mani-skill-nightly 2025.4.3.815__py3-none-any.whl → 2025.4.4.36__py3-none-any.whl

mani_skill/assets/robots/inspire_hand/urdf/end_effector/inspire_hand/inspire_hand_right_floating.urdf

@@ -0,0 +1,505 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from main.xacro                     | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="inspire_hand">
+  <link name="root">
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.00" ixy="0.00" ixz="0.00" iyy="0.00" iyz="0.00" izz="0.00"/>
+    </inertial>
+  </link>
+  <link name="root_arm_1_link_1">
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.00" ixy="0.00" ixz="0.00" iyy="0.00" iyz="0.00" izz="0.00"/>
+    </inertial>
+  </link>
+  <link name="root_arm_1_link_2">
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.00" ixy="0.00" ixz="0.00" iyy="0.00" iyz="0.00" izz="0.00"/>
+    </inertial>
+  </link>
+  <link name="root_arm_1_link_3">
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.00" ixy="0.00" ixz="0.00" iyy="0.00" iyz="0.00" izz="0.00"/>
+    </inertial>
+  </link>
+  <link name="root_arm_1_link_4">
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.00" ixy="0.00" ixz="0.00" iyy="0.00" iyz="0.00" izz="0.00"/>
+    </inertial>
+  </link>
+  <link name="root_arm_1_link_5">
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.00" ixy="0.00" ixz="0.00" iyy="0.00" iyz="0.00" izz="0.00"/>
+    </inertial>
+  </link>
+  <joint name="root_x_axis_joint" type="prismatic">
+    <parent link="root"/>
+    <child link="root_arm_1_link_1"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100" lower="-20" upper="20" velocity="0.50"/>
+    <dynamics damping="10.0" friction="10"/>
+  </joint>
+  <joint name="root_y_axis_joint" type="prismatic">
+    <parent link="root_arm_1_link_1"/>
+    <child link="root_arm_1_link_2"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100" lower="-20" upper="20" velocity="0.50"/>
+    <dynamics damping="10.0" friction="10"/>
+  </joint>
+  <joint name="root_z_axis_joint" type="prismatic">
+    <parent link="root_arm_1_link_2"/>
+    <child link="root_arm_1_link_3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="100" lower="-20" upper="20" velocity="0.50"/>
+    <dynamics damping="10.0" friction="10"/>
+  </joint>
+  <joint name="root_x_rot_joint" type="revolute">
+    <parent link="root_arm_1_link_3"/>
+    <child link="root_arm_1_link_4"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100" lower="-20" upper="20" velocity="0.50"/>
+    <dynamics damping="10.0" friction="10"/>
+  </joint>
+  <joint name="root_y_rot_joint" type="revolute">
+    <parent link="root_arm_1_link_4"/>
+    <child link="root_arm_1_link_5"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100" lower="-20" upper="20" velocity="0.50"/>
+    <dynamics damping="10.0" friction="10"/>
+  </joint>
+  <joint name="root_z_rot_joint" type="revolute">
+    <parent link="root_arm_1_link_5"/>
+    <child link="right_hand_wrist_base_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="100" lower="-20" upper="20" velocity="0.50"/>
+    <dynamics damping="10.0" friction="10"/>
+  </joint>
+  <link name="right_hand_wrist_base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="2.5182E-06 0.0014729 0.032787"/>
+      <mass value="0.065373"/>
+      <inertia ixx="4.1551E-05" ixy="7.0443E-11" ixz="-6.0666E-09" iyy="4.1183E-05" iyz="8.3238E-09" izz="2.7992E-05"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/wrist_base_link.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/wrist_base_link.glb"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_wrist_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="4.5229E-10 -7.0516E-06 -7.9885E-05"/>
+      <mass value="0.00056124"/>
+      <inertia ixx="2.9483E-08" ixy="-1.2003E-15" ixz="6.7402E-16" iyy="2.9284E-08" iyz="3.1625E-13" izz="2.2194E-09"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/R_wrist_link.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/R_wrist_link.glb"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_wrist_pitch_joint" type="revolute">
+    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0.0785"/>
+    <parent link="right_hand_wrist_base_link"/>
+    <child link="right_hand_wrist_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1" lower="-0.39549160850191506" upper="0.3860668305411457" velocity="0.5"/>
+  </joint>
+  <link name="right_hand_hand_base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.001139 0.05204 -0.0013473"/>
+      <mass value="0.19286"/>
+      <inertia ixx="9.3622E-05" ixy="-1.7899E-06" ixz="6.7062E-07" iyy="9.545E-05" iyz="2.7767E-06" izz="0.00016048"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/R_hand_base_link.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/R_hand_base_link.glb"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_wrist_yaw_joint" type="revolute">
+    <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+    <parent link="right_hand_wrist_link"/>
+    <child link="right_hand_hand_base_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1" lower="-0.445058959258554" upper="0.445058959258554" velocity="0.5"/>
+  </joint>
+  <link name="right_hand_thumb_metacarpal_base">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.003828 0.0005479 2.5426E-05"/>
+      <mass value="0.0015178"/>
+      <inertia ixx="3.6056E-08" ixy="5.7714E-09" ixz="1.9601E-09" iyy="6.0741E-08" iyz="-2.0748E-10" izz="5.6162E-08"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/R_thumb_metacarpal_base.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/R_thumb_metacarpal_base.glb"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_thumb_CMC_yaw_joint" type="revolute">
+    <origin rpy="-1.5707963267948966 -0.2617993877991494 0" xyz="0.02125 0.0285 0.01515"/>
+    <parent link="right_hand_hand_base_link"/>
+    <child link="right_hand_thumb_metacarpal_base"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1" lower="-1.3089969389957472" upper="0" velocity="0.5"/>
+  </joint>
+  <link name="right_hand_thumb_metacarpal">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.025599 0.0011669 7.3555E-08"/>
+      <mass value="0.026112"/>
+      <inertia ixx="2.4138E-06" ixy="1.4258E-07" ixz="-3.1577E-11" iyy="6.7222E-06" iyz="6.0585E-12" izz="7.9398E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/thumb_metacarpal.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/thumb_metacarpal.glb"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_thumb_CMC_pitch_joint" type="revolute">
+    <origin rpy="-1.5707963267948966 -0.6831165238198015 0" xyz="0.0115 0 -0.00075"/>
+    <parent link="right_hand_thumb_metacarpal_base"/>
+    <child link="right_hand_thumb_metacarpal"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1" lower="-0.4799655442984406" upper="0" velocity="0.5"/>
+  </joint>
+  <link name="right_hand_thumb_proximal">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0096374 0.0056519 -3.2431E-08"/>
+      <mass value="0.0076245"/>
+      <inertia ixx="3.7134E-07" ixy="9.4961E-08" ixz="6.3265E-12" iyy="7.908E-07" iyz="2.8577E-12" izz="8.6329E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/thumb_proximal.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/thumb_proximal.glb"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_thumb_MCP_joint" type="revolute">
+    <origin rpy="0 0 -0.0031723" xyz="0.055852 -0.0040666 0"/>
+    <parent link="right_hand_thumb_metacarpal"/>
+    <child link="right_hand_thumb_proximal"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1" lower="-0.8" upper="0" velocity="0.5"/>
+    <!-- <mimic joint="right_hand_thumb_CMC_pitch_joint" multiplier="1.3333333333333335" offset="-0.08144869842640205"/> -->
+  </joint>
+  <link name="right_hand_thumb_distal">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01088 0.00050953 -7.3208E-08"/>
+      <mass value="0.0032026"/>
+      <inertia ixx="8.1419E-08" ixy="2.1824E-08" ixz="-2.8228E-13" iyy="1.751E-07" iyz="1.4206E-12" izz="1.8651E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/thumb_distal.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/thumb_distal.glb"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_thumb_IP_joint" type="revolute">
+    <origin rpy="0 0 0.011853" xyz="0.022558 0.0020717 0"/>
+    <parent link="right_hand_thumb_proximal"/>
+    <child link="right_hand_thumb_distal"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1" lower="-0.4" upper="0" velocity="0.5"/>
+    <!-- <mimic joint="right_hand_thumb_CMC_pitch_joint" multiplier="0.6666666666666667" offset="-0.040724349213201026"/> -->
+  </joint>
+  <link name="right_hand_index_proximal">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.013292 -0.0019852 6.3987E-08"/>
+      <mass value="0.0074557"/>
+      <inertia ixx="3.0933E-07" ixy="1.1169E-07" ixz="6.8599E-12" iyy="8.2022E-07" iyz="4.1194E-13" izz="9.125E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/index_ring_proximal.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/index_ring_proximal.glb"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_index_MCP_joint" type="revolute">
+    <origin rpy="-1.5707963267948966 0.12457000000000001 1.5359" xyz="0.027071 0.10464 -0.0020953"/>
+    <parent link="right_hand_hand_base_link"/>
+    <child link="right_hand_index_proximal"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1" lower="-1.34" upper="0" velocity="0.5"/>
+  </joint>
+  <link name="right_hand_index_middle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.018926 -0.0015379 -2.8949E-08"/>
+      <mass value="0.0044472"/>
+      <inertia ixx="1.4776E-07" ixy="2.0201E-07" ixz="5.0844E-13" iyy="6.6739E-07" iyz="-2.7579E-13" izz="7.4626E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/index_ring_middle.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/index_ring_middle.glb"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_index_PIP_joint" type="revolute">
+    <origin rpy="0 0 0.0016248" xyz="0.030445 -0.010275 0"/>
+    <parent link="right_hand_index_proximal"/>
+    <child link="right_hand_index_middle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1" lower="-1.56" upper="0.04545" velocity="0.5"/>
+    <!-- <mimic joint="right_hand_index_MCP_joint" multiplier="1.06399" offset="-0.16734800000000002"/> -->
+  </joint>
+  <link name="right_hand_middle_proximal">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.013292 -0.0019853 9.6516E-08"/>
+      <mass value="0.0074556"/>
+      <inertia ixx="3.0932E-07" ixy="1.1169E-07" ixz="7.0517E-12" iyy="8.2022E-07" iyz="-8.1193E-13" izz="9.1249E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/middle_pinky_proximal.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/middle_pinky_proximal.glb"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_middle_MCP_joint" type="revolute">
+    <origin rpy="-1.5707963267948966 0.12457000000000001 1.5707963267948966" xyz="0.00775 0.105 -0.0020953"/>
+    <parent link="right_hand_hand_base_link"/>
+    <child link="right_hand_middle_proximal"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1" lower="-1.34" upper="0" velocity="0.5"/>
+  </joint>
+  <link name="right_hand_middle_middle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.020219 -0.0014517 -6.6609E-10"/>
+      <mass value="0.0048916"/>
+      <inertia ixx="1.6257E-07" ixy="2.4464E-07" ixz="5.557E-13" iyy="8.8194E-07" iyz="-1.7464E-13" izz="9.6869E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/middle_middle.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/middle_middle.glb"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_middle_PIP_joint" type="revolute">
+    <origin rpy="0 0 -0.019795" xyz="0.030445 -0.010275 0"/>
+    <parent link="right_hand_middle_proximal"/>
+    <child link="right_hand_middle_middle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1" lower="-1.56" upper="0.04545" velocity="0.5"/>
+    <!-- <mimic joint="right_hand_middle_MCP_joint" multiplier="1.06399" offset="-0.16734800000000002"/> -->
+  </joint>
+  <link name="right_hand_ring_proximal">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.013292 -0.0019853 9.267E-08"/>
+      <mass value="0.0074556"/>
+      <inertia ixx="3.0932E-07" ixy="1.1169E-07" ixz="6.3806E-12" iyy="8.2022E-07" iyz="-3.6905E-13" izz="9.1249E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/index_ring_proximal.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/index_ring_proximal.glb"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_ring_MCP_joint" type="revolute">
+    <origin rpy="-1.5707963267948966 0.12457000000000001 1.6232" xyz="-0.011479 0.1045 -0.0020953"/>
+    <parent link="right_hand_hand_base_link"/>
+    <child link="right_hand_ring_proximal"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1" lower="-1.34" upper="0" velocity="0.5"/>
+  </joint>
+  <link name="right_hand_ring_middle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.018926 -0.0015379 -2.2489E-08"/>
+      <mass value="0.0044472"/>
+      <inertia ixx="1.4776E-07" ixy="2.0201E-07" ixz="-3.2151E-13" iyy="6.6738E-07" iyz="3.8885E-13" izz="7.4626E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/index_ring_middle.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/index_ring_middle.glb"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_ring_PIP_joint" type="revolute">
+    <origin rpy="0 0 0.0016262" xyz="0.030445 -0.010275 0"/>
+    <parent link="right_hand_ring_proximal"/>
+    <child link="right_hand_ring_middle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1" lower="-1.56" upper="0.04545" velocity="0.5"/>
+    <!-- <mimic joint="right_hand_ring_MCP_joint" multiplier="1.06399" offset="-0.16734800000000002"/> -->
+  </joint>
+  <link name="right_hand_pinky_proximal">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.013292 -0.0019853 9.9172E-08"/>
+      <mass value="0.0074556"/>
+      <inertia ixx="3.0932E-07" ixy="1.1169E-07" ixz="6.5494E-12" iyy="8.2022E-07" iyz="-6.477E-13" izz="9.1249E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/middle_pinky_proximal.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/middle_pinky_proximal.glb"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_pinky_MCP_joint" type="revolute">
+    <origin rpy="-1.5707963267948966 0.12457000000000001 1.6755" xyz="-0.030655 0.10299 -0.0020953"/>
+    <parent link="right_hand_hand_base_link"/>
+    <child link="right_hand_pinky_proximal"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1" lower="-1.34" upper="0" velocity="0.5"/>
+  </joint>
+  <link name="right_hand_pinky_middle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.015705 -0.001732 -3.0224E-05"/>
+      <mass value="0.00358"/>
+      <inertia ixx="1.1688E-07" ixy="1.3011E-07" ixz="5.7801E-10" iyy="3.6707E-07" iyz="-3.7876E-10" izz="4.2838E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/pinky_middle.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../../../meshes/end_effector/inspire_hand/visual/pinky_middle.glb"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_pinky_PIP_joint" type="revolute">
+    <origin rpy="0 0 0.090322" xyz="0.030445 -0.010275 0"/>
+    <parent link="right_hand_pinky_proximal"/>
+    <child link="right_hand_pinky_middle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1" lower="-1.56" upper="0.04545" velocity="0.5"/>
+    <!-- <mimic joint="right_hand_pinky_MCP_joint" multiplier="1.06399" offset="-0.16734800000000002"/> -->
+  </joint>
+  <link name="right_hand_thumb_tip"/>
+  <joint name="right_hand_thumb_tip_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.024859 -0.000031 0"/>
+    <parent link="right_hand_thumb_distal"/>
+    <child link="right_hand_thumb_tip"/>
+  </joint>
+  <link name="right_hand_index_tip"/>
+  <joint name="right_hand_index_tip_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.043944 -0.009147 0"/>
+    <parent link="right_hand_index_middle"/>
+    <child link="right_hand_index_tip"/>
+  </joint>
+  <link name="right_hand_middle_tip"/>
+  <joint name="right_hand_middle_tip_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.047746 -0.009066 0"/>
+    <parent link="right_hand_middle_middle"/>
+    <child link="right_hand_middle_tip"/>
+  </joint>
+  <link name="right_hand_ring_tip"/>
+  <joint name="right_hand_ring_tip_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.043944 -0.009147 0"/>
+    <parent link="right_hand_ring_middle"/>
+    <child link="right_hand_ring_tip"/>
+  </joint>
+  <link name="right_hand_pinky_tip"/>
+  <joint name="right_hand_pinky_tip_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.035855 -0.009619 0"/>
+    <parent link="right_hand_pinky_middle"/>
+    <child link="right_hand_pinky_tip"/>
+  </joint>
+  <!-- Left arm -->
+</robot>

{mani_skill_nightly-2025.4.3.815.dist-info → mani_skill_nightly-2025.4.4.36.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.4.3.815
+Version: 2025.4.4.36
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.4.3.815.dist-info → mani_skill_nightly-2025.4.4.36.dist-info}/RECORD

@@ -5,16 +5,16 @@ mani_skill/agents/multi_agent.py,sha256=OL7sPDwP1Gfn870W3LRNhwsPp7Gy52sdYI4LySva
 mani_skill/agents/registration.py,sha256=rtu9vAys_Qz76d9LsDFpqanZxaFiLSPZajA3uHF9HHQ,1331
 mani_skill/agents/utils.py,sha256=U8wdgsNHRa-RtlC3HQM8_Agn9P82TIe3ZrXetaMMU_U,1912
 mani_skill/agents/controllers/__init__.py,sha256=tsd27dW6brQBm563CddUGtFMBNAxe_MCpTqqR5VyJaY,1103
-mani_skill/agents/controllers/base_controller.py,sha256=8z1u9wqayP3Fof-pcWa53B1LCZ0Bw1C--MpzBHJSWMo,11779
+mani_skill/agents/controllers/base_controller.py,sha256=gSLIADsehgtscJjQUUla_oQSWlP69uhSAgCkonTHYEU,12034
 mani_skill/agents/controllers/passive_controller.py,sha256=R-hZeuxmNKA9TvDZzVKd-YIv45xE4tc6wMHargdrxjY,1264
 mani_skill/agents/controllers/pd_base_vel.py,sha256=-3ZzLZ9nRDMGHWnFE7c4reEbC3jHtQJCOx3LmArz95g,2868
 mani_skill/agents/controllers/pd_ee_pose.py,sha256=MkQF1jpNaD5QNsrM7JOiWi_waQSMfz7vw8jXB4WK_Q4,11464
-mani_skill/agents/controllers/pd_joint_pos.py,sha256=MeKjI4cXniAMY1PgjUh5jdvG7dXCUFdId0yWkQWMfSA,4823
+mani_skill/agents/controllers/pd_joint_pos.py,sha256=Zx_R3BBxC1JZKlgptfrKR8ZfpY6QCcoo4_GObsJkDNQ,10462
 mani_skill/agents/controllers/pd_joint_pos_vel.py,sha256=G8SBIa8jM939zGCETY17RlmwHoHLS5iCMTZsYZaH1mY,2433
 mani_skill/agents/controllers/pd_joint_vel.py,sha256=XQK13lsbteeUsztGw0u-DCBgCCv0ChglvncgwxVQCWY,1900
 mani_skill/agents/controllers/utils/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/agents/controllers/utils/kinematics.py,sha256=f3qQp8iY4npilhjLzCtTbSX-uch0PJ5GtIgrijmRfpY,8038
-mani_skill/agents/robots/__init__.py,sha256=8JuE836BiHMQhqcg3aBZRCa7q-ehSUGlOz__MZsTjQQ,564
+mani_skill/agents/robots/__init__.py,sha256=4eeznbnCJQi-XkQJz6WfCZbSXq2qBAVqkNzYh9Hm5Qs,624
 mani_skill/agents/robots/allegro_hand/__init__.py,sha256=PWH6MMv2i5g1xi76_E-YJLtKFLVKxkJgQ96GD_YeQN4,104
 mani_skill/agents/robots/allegro_hand/allegro.py,sha256=Uh5z4f7DqbKa6a9MZSUr93oMI6st95HnJLxB5kI7j_E,5213
 mani_skill/agents/robots/allegro_hand/allegro_touch.py,sha256=CMnGIf1JT7jbrM5jc-OHfODeYiwrUp8rzuS9rUMzmK4,5805
@@ -24,6 +24,8 @@ mani_skill/agents/robots/dclaw/__init__.py,sha256=t1VSGN3WYw9f3mR7_M08-VhCBQPWOi
 mani_skill/agents/robots/dclaw/dclaw.py,sha256=G5DqqRl2R8NroNyTaStdofEFW23wWqla2qy6mqkVOG8,4082
 mani_skill/agents/robots/fetch/__init__.py,sha256=q3QA2oGTx-LgdmCbpe3wpj1ifoqhhFDdrMMXC43Nsuc,79
 mani_skill/agents/robots/fetch/fetch.py,sha256=z6B-HawhvXX59j8xdC9NBt03SrRutDm1qzZ3ABAKSzk,15112
+mani_skill/agents/robots/floating_inspire_hand/__init__.py,sha256=JmV3QkvW1w8l_NUDdX1aFa55E7WXxnhukD-JLM99bGk,60
+mani_skill/agents/robots/floating_inspire_hand/floating_inspire_hand.py,sha256=GI5wO5Rfdm6mcw0x8hs2XCjl-gqQ6IDheGaghEkqK5w,6756
 mani_skill/agents/robots/floating_panda_gripper/__init__.py,sha256=AwV0Sml7DmQb6hk4FqbxHdO7_XXHHMhrOZtZRk6d-Po,57
 mani_skill/agents/robots/floating_panda_gripper/floating_panda_gripper.py,sha256=0Spwgy0t-3Zc_8JaDS2G6pmkfC81ui_r8PqkWqxbrr8,5071
 mani_skill/agents/robots/floating_robotiq_2f_85_gripper/__init__.py,sha256=bBXRyK4ncX9Zv6R5NXEHD9f6hT9A2PZEsG0n4K76f00,71
@@ -33,7 +35,7 @@ mani_skill/agents/robots/googlerobot/googlerobot.py,sha256=y4EvHwPhfj0wF6gS7UVv2
 mani_skill/agents/robots/humanoid/__init__.py,sha256=fP0TIhokMXDRgduz6BEvloeS6yNB-5_c0wI_cTFOiIU,31
 mani_skill/agents/robots/humanoid/humanoid.py,sha256=Q0_uuJnEj1DKwGe-CcB83lkLFkq1vL5-WdyZq5SEf_c,3793
 mani_skill/agents/robots/panda/__init__.py,sha256=VnFJLcmPMBjo-mlBpfMo5acYKud_wngRAcf67uiugSk,102
-mani_skill/agents/robots/panda/panda.py,sha256=wp_wl6F5COWUSE-zjNf8o-JCW_tPrkTP6ZgFJVcUaXE,10546
+mani_skill/agents/robots/panda/panda.py,sha256=QDH8_Gh2UaSDL-xpAvUL6fp5x4zyeVaUv8W2biixbgU,10623
 mani_skill/agents/robots/panda/panda_stick.py,sha256=ylYvjcgazMfp2k-RPbxkFByH9qyTLD8beDp2ra_WWso,5659
 mani_skill/agents/robots/panda/panda_wristcam.py,sha256=eSw652CaA82YfetCqasHGAcUkaJ_aXJijJm6tHZmKyQ,875
 mani_skill/agents/robots/stompy/__init__.py,sha256=fNuqeJqKneHPnzvjDYtzbpV3MIGGll8-CMok89hf0zo,27
@@ -278,6 +280,24 @@ mani_skill/assets/robots/humanoid/humanoid.xml,sha256=uqPnMcy194caVKGSw-3Hq1yDAe
 mani_skill/assets/robots/humanoid/common/materials.xml,sha256=XxJ5NRzW5_g_pKLnM1WP-yl60Z-b1OdXva7G59Nqd3w,1108
 mani_skill/assets/robots/humanoid/common/skybox.xml,sha256=UvNofKMDKbQHewom_qrZtz0gHhg8veD_vWzVLeUZB70,202
 mani_skill/assets/robots/humanoid/common/visual.xml,sha256=7B0nSrcNlWBBM9r6ksDRGU3lG7qZe9U7cLxn65XYI_w,175
+mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/L_hand_base_link.glb,sha256=8sdYcjXzi51tPAlUj2v2NkPJEPxbfo_3_zeP1snhqN8,606392
+mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/L_thumb_metacarpal_base.glb,sha256=VPQlDUlJaYHz1OK3HwftVr916PDmrDNxuxjq89vsNa0,16320
+mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/L_wrist_link.glb,sha256=Js1pTvoWJiYXG2UZpwfiuCt6epqb7HuLLyMGL-Ajo5w,13724
+mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/R_hand_base_link.glb,sha256=kdfXB1Reg07VFHAewGJQ9L4pHk1byFa6-sc5-BaoGfg,603912
+mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/R_thumb_metacarpal_base.glb,sha256=h2CCD4TcT5m0Phoc0EtkzMTPJQxkvloOG85eYU8qOfY,16360
+mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/R_wrist_link.glb,sha256=fG3nW7RVhHfM04XInw6HL2RQELdNhBIPJVPkvUmTQRY,13352
+mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/index_ring_middle.glb,sha256=YNc5FlbRWrHPpp-LZOOvkzrLYGFV0P2Worqqez8sIA8,102608
+mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/index_ring_proximal.glb,sha256=YFs1By33VAWwmAgOcdDMn-Usg_OuADJKqUR1a75hiVc,138072
+mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/middle_middle.glb,sha256=Y80yMFmQhrz4XC87JljU6DvQ-0wbzTXZ94ZjM9oHhLs,109040
+mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/middle_pinky_proximal.glb,sha256=H-ah0wIfdIk_aiU_4mvgY7DQv0kovo1bt5tE0WwIsmk,137972
+mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/pinky_middle.glb,sha256=AuTrHFkYZiP0Tscq3OZ7YeC0vSVR1qWBhybZxD85s6g,133500
+mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/thumb_distal.glb,sha256=XKZSZRHpXTD1I761himZk-hx3O4Tzf_cs2MU5Onb2eI,32032
+mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/thumb_metacarpal.glb,sha256=7tS9Amh9nFHFbhfw-zwCaeNQEf2D-FyUG7WzJ9r7r9Q,28272
+mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/thumb_proximal.glb,sha256=N3-3y2jsWlikZHd2lsvqBTo2anQOr9KYXpiFG8asltA,50864
+mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/wrist_base_link.glb,sha256=_FrPD4PDoq8xpMK_cgPmieQoYC4NXScsctzHJtQz1_k,297920
+mani_skill/assets/robots/inspire_hand/urdf/end_effector/inspire_hand/inspire_hand_left.urdf,sha256=n8vpejsqsvuTF-j6rD4Lk763-3xPtpVbO6AcvlZXwcA,18792
+mani_skill/assets/robots/inspire_hand/urdf/end_effector/inspire_hand/inspire_hand_right.urdf,sha256=EAxFnwOsXFyCKiexhCA9m6r5EH7qCkvzJCvHOKdT3y4,17645
+mani_skill/assets/robots/inspire_hand/urdf/end_effector/inspire_hand/inspire_hand_right_floating.urdf,sha256=W2uRIWhQynY3lKfLK-obUMTEYAdXyR7jQLhClZSlpy4,20358
 mani_skill/assets/robots/panda/mobile_panda_dual_arm.urdf,sha256=LIBzvBfOC7camgIbNAWXN1WqAN-mtV9eXoweNy5Uv64,28443
 mani_skill/assets/robots/panda/mobile_panda_single_arm.urdf,sha256=LXmsV85-CvO2lHrN7alyM_eFFoV4x4cIpCjiwbyFVOE,16761
 mani_skill/assets/robots/panda/panda_bucket.srdf,sha256=p5xcVV2dJNNEXI_WKXYX54cOFh44l4fV-hn_vdc4kRQ,52
@@ -687,8 +707,8 @@ mani_skill/vector/wrappers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJ
 mani_skill/vector/wrappers/gymnasium.py,sha256=v1MDPIrVACBKCulrpdXBK2jDZQI7LKYFZgGgaCC5avY,7408
 mani_skill/vector/wrappers/sb3.py,sha256=SlXdiEPqcNHYMhJCzA29kBU6zK7DKTe1nc0L6Z3QQtY,4722
 mani_skill/viewer/__init__.py,sha256=srvDBsk4LQU75K2VIttrhiQ68p_ro7PSDqQRls2PY5c,1722
-mani_skill_nightly-2025.4.3.815.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.4.3.815.dist-info/METADATA,sha256=d6_KCq4_B7PmkDb3FtvJ8yXZ-6f4i-7FLg-NIB6Ce2s,9290
-mani_skill_nightly-2025.4.3.815.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.4.3.815.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.4.3.815.dist-info/RECORD,,
+mani_skill_nightly-2025.4.4.36.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.4.4.36.dist-info/METADATA,sha256=7uRC3TlGmwuS-eMllEsMABSX22CjX_kSOFcNrW3_1MI,9289
+mani_skill_nightly-2025.4.4.36.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.4.4.36.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.4.4.36.dist-info/RECORD,,