mani-skill-nightly 2025.5.20.817__py3-none-any.whl → 2025.5.20.2330__py3-none-any.whl

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (31) hide show
  1. mani_skill/agents/robots/__init__.py +6 -1
  2. mani_skill/agents/robots/inspire_hand/__init__.py +2 -0
  3. mani_skill/agents/robots/inspire_hand/fixed_inspire_hand.py +246 -0
  4. mani_skill/agents/robots/inspire_hand/floating_inspire_hand.py +414 -0
  5. mani_skill/assets/robots/inspire_hand/README.md +23 -0
  6. mani_skill/assets/robots/inspire_hand/{urdf/end_effector/inspire_hand → RH56DFX-2LR/urdf}/inspire_hand_left.urdf +43 -48
  7. mani_skill/assets/robots/inspire_hand/RH56DFX-2LR/urdf/inspire_hand_left_floating.urdf +516 -0
  8. mani_skill/assets/robots/inspire_hand/{urdf/end_effector/inspire_hand → RH56DFX-2LR/urdf}/inspire_hand_right.urdf +43 -40
  9. mani_skill/assets/robots/inspire_hand/{urdf/end_effector/inspire_hand → RH56DFX-2LR/urdf}/inspire_hand_right_floating.urdf +43 -40
  10. {mani_skill_nightly-2025.5.20.817.dist-info → mani_skill_nightly-2025.5.20.2330.dist-info}/METADATA +1 -1
  11. {mani_skill_nightly-2025.5.20.817.dist-info → mani_skill_nightly-2025.5.20.2330.dist-info}/RECORD +29 -26
  12. mani_skill/agents/robots/floating_inspire_hand/__init__.py +0 -1
  13. mani_skill/agents/robots/floating_inspire_hand/floating_inspire_hand.py +0 -187
  14. /mani_skill/assets/robots/inspire_hand/{meshes/end_effector/inspire_hand → RH56DFX-2LR/meshes}/visual/L_hand_base_link.glb +0 -0
  15. /mani_skill/assets/robots/inspire_hand/{meshes/end_effector/inspire_hand → RH56DFX-2LR/meshes}/visual/L_thumb_metacarpal_base.glb +0 -0
  16. /mani_skill/assets/robots/inspire_hand/{meshes/end_effector/inspire_hand → RH56DFX-2LR/meshes}/visual/L_wrist_link.glb +0 -0
  17. /mani_skill/assets/robots/inspire_hand/{meshes/end_effector/inspire_hand → RH56DFX-2LR/meshes}/visual/R_hand_base_link.glb +0 -0
  18. /mani_skill/assets/robots/inspire_hand/{meshes/end_effector/inspire_hand → RH56DFX-2LR/meshes}/visual/R_thumb_metacarpal_base.glb +0 -0
  19. /mani_skill/assets/robots/inspire_hand/{meshes/end_effector/inspire_hand → RH56DFX-2LR/meshes}/visual/R_wrist_link.glb +0 -0
  20. /mani_skill/assets/robots/inspire_hand/{meshes/end_effector/inspire_hand → RH56DFX-2LR/meshes}/visual/index_ring_middle.glb +0 -0
  21. /mani_skill/assets/robots/inspire_hand/{meshes/end_effector/inspire_hand → RH56DFX-2LR/meshes}/visual/index_ring_proximal.glb +0 -0
  22. /mani_skill/assets/robots/inspire_hand/{meshes/end_effector/inspire_hand → RH56DFX-2LR/meshes}/visual/middle_middle.glb +0 -0
  23. /mani_skill/assets/robots/inspire_hand/{meshes/end_effector/inspire_hand → RH56DFX-2LR/meshes}/visual/middle_pinky_proximal.glb +0 -0
  24. /mani_skill/assets/robots/inspire_hand/{meshes/end_effector/inspire_hand → RH56DFX-2LR/meshes}/visual/pinky_middle.glb +0 -0
  25. /mani_skill/assets/robots/inspire_hand/{meshes/end_effector/inspire_hand → RH56DFX-2LR/meshes}/visual/thumb_distal.glb +0 -0
  26. /mani_skill/assets/robots/inspire_hand/{meshes/end_effector/inspire_hand → RH56DFX-2LR/meshes}/visual/thumb_metacarpal.glb +0 -0
  27. /mani_skill/assets/robots/inspire_hand/{meshes/end_effector/inspire_hand → RH56DFX-2LR/meshes}/visual/thumb_proximal.glb +0 -0
  28. /mani_skill/assets/robots/inspire_hand/{meshes/end_effector/inspire_hand → RH56DFX-2LR/meshes}/visual/wrist_base_link.glb +0 -0
  29. {mani_skill_nightly-2025.5.20.817.dist-info → mani_skill_nightly-2025.5.20.2330.dist-info}/LICENSE +0 -0
  30. {mani_skill_nightly-2025.5.20.817.dist-info → mani_skill_nightly-2025.5.20.2330.dist-info}/WHEEL +0 -0
  31. {mani_skill_nightly-2025.5.20.817.dist-info → mani_skill_nightly-2025.5.20.2330.dist-info}/top_level.txt +0 -0
mani_skill/assets/robots/inspire_hand/{urdf/end_effector/inspire_hand → RH56DFX-2LR/urdf}/inspire_hand_right.urdf RENAMED
@@ -13,13 +13,13 @@
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  <visual>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/wrist_base_link.glb"/>
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+ <mesh filename="../meshes/visual/wrist_base_link.glb"/>
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  </geometry>
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  </visual>
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  <collision>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/wrist_base_link.glb"/>
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+ <mesh filename="../meshes/visual/wrist_base_link.glb"/>
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  </geometry>
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  </collision>
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  </link>
@@ -32,13 +32,13 @@
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  <visual>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/R_wrist_link.glb"/>
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+ <mesh filename="../meshes/visual/R_wrist_link.glb"/>
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  </geometry>
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  </visual>
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  <collision>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/R_wrist_link.glb"/>
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+ <mesh filename="../meshes/visual/R_wrist_link.glb"/>
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  </geometry>
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  </collision>
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  </link>
@@ -58,13 +58,13 @@
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  <visual>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/R_hand_base_link.glb"/>
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+ <mesh filename="../meshes/visual/R_hand_base_link.glb"/>
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  </geometry>
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  </visual>
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  <collision>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/R_hand_base_link.glb"/>
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+ <mesh filename="../meshes/visual/R_hand_base_link.glb"/>
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  </geometry>
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  </collision>
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  </link>
@@ -84,13 +84,13 @@
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  <visual>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/R_thumb_metacarpal_base.glb"/>
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+ <mesh filename="../meshes/visual/R_thumb_metacarpal_base.glb"/>
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  </geometry>
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  </visual>
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  <collision>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/R_thumb_metacarpal_base.glb"/>
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+ <mesh filename="../meshes/visual/R_thumb_metacarpal_base.glb"/>
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  </geometry>
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  </collision>
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  </link>
@@ -110,13 +110,13 @@
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  <visual>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/thumb_metacarpal.glb"/>
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+ <mesh filename="../meshes/visual/thumb_metacarpal.glb"/>
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  </geometry>
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  </visual>
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  <collision>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/thumb_metacarpal.glb"/>
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+ <mesh filename="../meshes/visual/thumb_metacarpal.glb"/>
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  </geometry>
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  </collision>
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  </link>
@@ -136,13 +136,13 @@
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  <visual>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/thumb_proximal.glb"/>
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+ <mesh filename="../meshes/visual/thumb_proximal.glb"/>
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  </geometry>
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  </visual>
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  <collision>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/thumb_proximal.glb"/>
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+ <mesh filename="../meshes/visual/thumb_proximal.glb"/>
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  </geometry>
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  </collision>
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  </link>
@@ -152,7 +152,7 @@
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  <child link="right_hand_thumb_proximal"/>
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  <axis xyz="0 0 1"/>
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  <limit effort="1" lower="-0.8" upper="0" velocity="0.5"/>
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- <!-- <mimic joint="right_hand_thumb_CMC_pitch_joint" multiplier="1.3333333333333335" offset="-0.08144869842640205"/> -->
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+ <mimic joint="right_hand_thumb_CMC_pitch_joint" multiplier="1.3333333333333335" offset="-0.08144869842640205"/>
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  </joint>
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  <link name="right_hand_thumb_distal">
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  <inertial>
@@ -163,13 +163,13 @@
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  <visual>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/thumb_distal.glb"/>
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+ <mesh filename="../meshes/visual/thumb_distal.glb"/>
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  </geometry>
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  </visual>
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  <collision>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/thumb_distal.glb"/>
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+ <mesh filename="../meshes/visual/thumb_distal.glb"/>
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  </geometry>
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  </collision>
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  </link>
@@ -179,7 +179,11 @@
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  <child link="right_hand_thumb_distal"/>
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  <axis xyz="0 0 1"/>
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  <limit effort="1" lower="-0.4" upper="0" velocity="0.5"/>
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+ <!-- NOTE (stao): In order to ues physx fixed tendon to simulate 2 underactuated joints in series controlled by one joint, we need
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+ to have them mimic one after another. The original mimic tag is commented out and we rearrange the transformation to make it depend
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+ on the parent joint instead of the grandparent joint. -->
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  <!-- <mimic joint="right_hand_thumb_CMC_pitch_joint" multiplier="0.6666666666666667" offset="-0.040724349213201026"/> -->
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+ <mimic joint="right_hand_thumb_MCP_joint" multiplier="0.5" offset="0"/>
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  </joint>
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  <link name="right_hand_index_proximal">
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  <inertial>
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  <visual>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/index_ring_proximal.glb"/>
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+ <mesh filename="../meshes/visual/index_ring_proximal.glb"/>
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  </geometry>
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  </visual>
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  <collision>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/index_ring_proximal.glb"/>
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+ <mesh filename="../meshes/visual/index_ring_proximal.glb"/>
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  </geometry>
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  </collision>
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  </link>
@@ -216,13 +220,13 @@
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  <visual>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/index_ring_middle.glb"/>
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+ <mesh filename="../meshes/visual/index_ring_middle.glb"/>
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  </geometry>
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  </visual>
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  <collision>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/index_ring_middle.glb"/>
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+ <mesh filename="../meshes/visual/index_ring_middle.glb"/>
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  </geometry>
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  </collision>
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  </link>
@@ -231,8 +235,8 @@
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  <parent link="right_hand_index_proximal"/>
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  <child link="right_hand_index_middle"/>
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  <axis xyz="0 0 1"/>
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- <limit effort="1" lower="-1.56" upper="0.04545" velocity="0.5"/>
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- <!-- <mimic joint="right_hand_index_MCP_joint" multiplier="1.06399" offset="-0.16734800000000002"/> -->
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+ <limit effort="1" lower="-1.5930946000000001" upper="0.04545" velocity="0.5"/>
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+ <mimic joint="right_hand_index_MCP_joint" multiplier="1.06399" offset="-0.16734800000000002"/>
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  </joint>
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  <link name="right_hand_middle_proximal">
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  <inertial>
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  <visual>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/middle_pinky_proximal.glb"/>
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+ <mesh filename="../meshes/visual/middle_pinky_proximal.glb"/>
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  </geometry>
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  </visual>
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  <collision>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/middle_pinky_proximal.glb"/>
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+ <mesh filename="../meshes/visual/middle_pinky_proximal.glb"/>
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  </geometry>
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  </collision>
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  </link>
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  <visual>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/middle_middle.glb"/>
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+ <mesh filename="../meshes/visual/middle_middle.glb"/>
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  </geometry>
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  </visual>
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  <collision>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/middle_middle.glb"/>
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+ <mesh filename="../meshes/visual/middle_middle.glb"/>
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  </geometry>
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  </collision>
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  </link>
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  <parent link="right_hand_middle_proximal"/>
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  <child link="right_hand_middle_middle"/>
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  <axis xyz="0 0 1"/>
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- <limit effort="1" lower="-1.56" upper="0.04545" velocity="0.5"/>
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- <!-- <mimic joint="right_hand_middle_MCP_joint" multiplier="1.06399" offset="-0.16734800000000002"/> -->
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+ <limit effort="1" lower="-1.5930946000000001" upper="0.04545" velocity="0.5"/>
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+ <mimic joint="right_hand_middle_MCP_joint" multiplier="1.06399" offset="-0.16734800000000002"/>
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  </joint>
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  <link name="right_hand_ring_proximal">
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  <inertial>
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  <visual>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/index_ring_proximal.glb"/>
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+ <mesh filename="../meshes/visual/index_ring_proximal.glb"/>
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  </geometry>
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  </visual>
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  <collision>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/index_ring_proximal.glb"/>
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+ <mesh filename="../meshes/visual/index_ring_proximal.glb"/>
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  </geometry>
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  </collision>
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  </link>
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  <visual>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/index_ring_middle.glb"/>
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+ <mesh filename="../meshes/visual/index_ring_middle.glb"/>
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  </geometry>
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  </visual>
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  <collision>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/index_ring_middle.glb"/>
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+ <mesh filename="../meshes/visual/index_ring_middle.glb"/>
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  </geometry>
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  </collision>
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  </link>
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  <parent link="right_hand_ring_proximal"/>
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  <child link="right_hand_ring_middle"/>
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  <axis xyz="0 0 1"/>
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- <limit effort="1" lower="-1.56" upper="0.04545" velocity="0.5"/>
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- <!-- <mimic joint="right_hand_ring_MCP_joint" multiplier="1.06399" offset="-0.16734800000000002"/> -->
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+ <limit effort="1" lower="-1.5930946000000001" upper="0.04545" velocity="0.5"/>
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+ <mimic joint="right_hand_ring_MCP_joint" multiplier="1.06399" offset="-0.16734800000000002"/>
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  </joint>
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  <link name="right_hand_pinky_proximal">
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  <inertial>
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  <visual>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/middle_pinky_proximal.glb"/>
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+ <mesh filename="../meshes/visual/middle_pinky_proximal.glb"/>
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  </geometry>
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  </visual>
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  <collision>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/middle_pinky_proximal.glb"/>
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+ <mesh filename="../meshes/visual/middle_pinky_proximal.glb"/>
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  </geometry>
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  </collision>
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  </link>
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  <visual>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/pinky_middle.glb"/>
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+ <mesh filename="../meshes/visual/pinky_middle.glb"/>
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  </geometry>
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  </visual>
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  <collision>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/pinky_middle.glb"/>
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+ <mesh filename="../meshes/visual/pinky_middle.glb"/>
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  </geometry>
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  </collision>
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  </link>
@@ -390,8 +394,8 @@
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  <parent link="right_hand_pinky_proximal"/>
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  <child link="right_hand_pinky_middle"/>
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  <axis xyz="0 0 1"/>
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- <limit effort="1" lower="-1.56" upper="0.04545" velocity="0.5"/>
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- <!-- <mimic joint="right_hand_pinky_MCP_joint" multiplier="1.06399" offset="-0.16734800000000002"/> -->
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+ <limit effort="1" lower="-1.5930946000000001" upper="0.04545" velocity="0.5"/>
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+ <mimic joint="right_hand_pinky_MCP_joint" multiplier="1.06399" offset="-0.16734800000000002"/>
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  </joint>
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  <link name="right_hand_thumb_tip"/>
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  <joint name="right_hand_thumb_tip_joint" type="fixed">
@@ -423,5 +427,4 @@
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  <parent link="right_hand_pinky_middle"/>
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  <child link="right_hand_pinky_tip"/>
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  </joint>
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- <!-- Left arm -->
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  </robot>
mani_skill/assets/robots/inspire_hand/{urdf/end_effector/inspire_hand → RH56DFX-2LR/urdf}/inspire_hand_right_floating.urdf RENAMED
@@ -91,13 +91,13 @@
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  <visual>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/wrist_base_link.glb"/>
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+ <mesh filename="../meshes/visual/wrist_base_link.glb"/>
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  </geometry>
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  </visual>
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  <collision>
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  <origin rpy="0 0 0" xyz="0 0 0"/>
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  <geometry>
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- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/wrist_base_link.glb"/>
100
+ <mesh filename="../meshes/visual/wrist_base_link.glb"/>
101
101
  </geometry>
102
102
  </collision>
103
103
  </link>
@@ -110,13 +110,13 @@
110
110
  <visual>
111
111
  <origin rpy="0 0 0" xyz="0 0 0"/>
112
112
  <geometry>
113
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/R_wrist_link.glb"/>
113
+ <mesh filename="../meshes/visual/R_wrist_link.glb"/>
114
114
  </geometry>
115
115
  </visual>
116
116
  <collision>
117
117
  <origin rpy="0 0 0" xyz="0 0 0"/>
118
118
  <geometry>
119
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/R_wrist_link.glb"/>
119
+ <mesh filename="../meshes/visual/R_wrist_link.glb"/>
120
120
  </geometry>
121
121
  </collision>
122
122
  </link>
@@ -136,13 +136,13 @@
136
136
  <visual>
137
137
  <origin rpy="0 0 0" xyz="0 0 0"/>
138
138
  <geometry>
139
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/R_hand_base_link.glb"/>
139
+ <mesh filename="../meshes/visual/R_hand_base_link.glb"/>
140
140
  </geometry>
141
141
  </visual>
142
142
  <collision>
143
143
  <origin rpy="0 0 0" xyz="0 0 0"/>
144
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  <geometry>
145
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/R_hand_base_link.glb"/>
145
+ <mesh filename="../meshes/visual/R_hand_base_link.glb"/>
146
146
  </geometry>
147
147
  </collision>
148
148
  </link>
@@ -162,13 +162,13 @@
162
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  <visual>
163
163
  <origin rpy="0 0 0" xyz="0 0 0"/>
164
164
  <geometry>
165
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/R_thumb_metacarpal_base.glb"/>
165
+ <mesh filename="../meshes/visual/R_thumb_metacarpal_base.glb"/>
166
166
  </geometry>
167
167
  </visual>
168
168
  <collision>
169
169
  <origin rpy="0 0 0" xyz="0 0 0"/>
170
170
  <geometry>
171
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/R_thumb_metacarpal_base.glb"/>
171
+ <mesh filename="../meshes/visual/R_thumb_metacarpal_base.glb"/>
172
172
  </geometry>
173
173
  </collision>
174
174
  </link>
@@ -188,13 +188,13 @@
188
188
  <visual>
189
189
  <origin rpy="0 0 0" xyz="0 0 0"/>
190
190
  <geometry>
191
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/thumb_metacarpal.glb"/>
191
+ <mesh filename="../meshes/visual/thumb_metacarpal.glb"/>
192
192
  </geometry>
193
193
  </visual>
194
194
  <collision>
195
195
  <origin rpy="0 0 0" xyz="0 0 0"/>
196
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  <geometry>
197
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/thumb_metacarpal.glb"/>
197
+ <mesh filename="../meshes/visual/thumb_metacarpal.glb"/>
198
198
  </geometry>
199
199
  </collision>
200
200
  </link>
@@ -214,13 +214,13 @@
214
214
  <visual>
215
215
  <origin rpy="0 0 0" xyz="0 0 0"/>
216
216
  <geometry>
217
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/thumb_proximal.glb"/>
217
+ <mesh filename="../meshes/visual/thumb_proximal.glb"/>
218
218
  </geometry>
219
219
  </visual>
220
220
  <collision>
221
221
  <origin rpy="0 0 0" xyz="0 0 0"/>
222
222
  <geometry>
223
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/thumb_proximal.glb"/>
223
+ <mesh filename="../meshes/visual/thumb_proximal.glb"/>
224
224
  </geometry>
225
225
  </collision>
226
226
  </link>
@@ -230,7 +230,7 @@
230
230
  <child link="right_hand_thumb_proximal"/>
231
231
  <axis xyz="0 0 1"/>
232
232
  <limit effort="1" lower="-0.8" upper="0" velocity="0.5"/>
233
- <!-- <mimic joint="right_hand_thumb_CMC_pitch_joint" multiplier="1.3333333333333335" offset="-0.08144869842640205"/> -->
233
+ <mimic joint="right_hand_thumb_CMC_pitch_joint" multiplier="1.3333333333333335" offset="-0.08144869842640205"/>
234
234
  </joint>
235
235
  <link name="right_hand_thumb_distal">
236
236
  <inertial>
@@ -241,13 +241,13 @@
241
241
  <visual>
242
242
  <origin rpy="0 0 0" xyz="0 0 0"/>
243
243
  <geometry>
244
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/thumb_distal.glb"/>
244
+ <mesh filename="../meshes/visual/thumb_distal.glb"/>
245
245
  </geometry>
246
246
  </visual>
247
247
  <collision>
248
248
  <origin rpy="0 0 0" xyz="0 0 0"/>
249
249
  <geometry>
250
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/thumb_distal.glb"/>
250
+ <mesh filename="../meshes/visual/thumb_distal.glb"/>
251
251
  </geometry>
252
252
  </collision>
253
253
  </link>
@@ -257,7 +257,11 @@
257
257
  <child link="right_hand_thumb_distal"/>
258
258
  <axis xyz="0 0 1"/>
259
259
  <limit effort="1" lower="-0.4" upper="0" velocity="0.5"/>
260
+ <!-- NOTE (stao): In order to ues physx fixed tendon to simulate 2 underactuated joints in series controlled by one joint, we need
261
+ to have them mimic one after another. The original mimic tag is commented out and we rearrange the transformation to make it depend
262
+ on the parent joint instead of the grandparent joint. -->
260
263
  <!-- <mimic joint="right_hand_thumb_CMC_pitch_joint" multiplier="0.6666666666666667" offset="-0.040724349213201026"/> -->
264
+ <mimic joint="right_hand_thumb_MCP_joint" multiplier="0.5" offset="0"/>
261
265
  </joint>
262
266
  <link name="right_hand_index_proximal">
263
267
  <inertial>
@@ -268,13 +272,13 @@
268
272
  <visual>
269
273
  <origin rpy="0 0 0" xyz="0 0 0"/>
270
274
  <geometry>
271
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/index_ring_proximal.glb"/>
275
+ <mesh filename="../meshes/visual/index_ring_proximal.glb"/>
272
276
  </geometry>
273
277
  </visual>
274
278
  <collision>
275
279
  <origin rpy="0 0 0" xyz="0 0 0"/>
276
280
  <geometry>
277
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/index_ring_proximal.glb"/>
281
+ <mesh filename="../meshes/visual/index_ring_proximal.glb"/>
278
282
  </geometry>
279
283
  </collision>
280
284
  </link>
@@ -294,13 +298,13 @@
294
298
  <visual>
295
299
  <origin rpy="0 0 0" xyz="0 0 0"/>
296
300
  <geometry>
297
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/index_ring_middle.glb"/>
301
+ <mesh filename="../meshes/visual/index_ring_middle.glb"/>
298
302
  </geometry>
299
303
  </visual>
300
304
  <collision>
301
305
  <origin rpy="0 0 0" xyz="0 0 0"/>
302
306
  <geometry>
303
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/index_ring_middle.glb"/>
307
+ <mesh filename="../meshes/visual/index_ring_middle.glb"/>
304
308
  </geometry>
305
309
  </collision>
306
310
  </link>
@@ -309,8 +313,8 @@
309
313
  <parent link="right_hand_index_proximal"/>
310
314
  <child link="right_hand_index_middle"/>
311
315
  <axis xyz="0 0 1"/>
312
- <limit effort="1" lower="-1.56" upper="0.04545" velocity="0.5"/>
313
- <!-- <mimic joint="right_hand_index_MCP_joint" multiplier="1.06399" offset="-0.16734800000000002"/> -->
316
+ <limit effort="1" lower="-1.5930946000000001" upper="0.04545" velocity="0.5"/>
317
+ <mimic joint="right_hand_index_MCP_joint" multiplier="1.06399" offset="-0.16734800000000002"/>
314
318
  </joint>
315
319
  <link name="right_hand_middle_proximal">
316
320
  <inertial>
@@ -321,13 +325,13 @@
321
325
  <visual>
322
326
  <origin rpy="0 0 0" xyz="0 0 0"/>
323
327
  <geometry>
324
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/middle_pinky_proximal.glb"/>
328
+ <mesh filename="../meshes/visual/middle_pinky_proximal.glb"/>
325
329
  </geometry>
326
330
  </visual>
327
331
  <collision>
328
332
  <origin rpy="0 0 0" xyz="0 0 0"/>
329
333
  <geometry>
330
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/middle_pinky_proximal.glb"/>
334
+ <mesh filename="../meshes/visual/middle_pinky_proximal.glb"/>
331
335
  </geometry>
332
336
  </collision>
333
337
  </link>
@@ -347,13 +351,13 @@
347
351
  <visual>
348
352
  <origin rpy="0 0 0" xyz="0 0 0"/>
349
353
  <geometry>
350
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/middle_middle.glb"/>
354
+ <mesh filename="../meshes/visual/middle_middle.glb"/>
351
355
  </geometry>
352
356
  </visual>
353
357
  <collision>
354
358
  <origin rpy="0 0 0" xyz="0 0 0"/>
355
359
  <geometry>
356
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/middle_middle.glb"/>
360
+ <mesh filename="../meshes/visual/middle_middle.glb"/>
357
361
  </geometry>
358
362
  </collision>
359
363
  </link>
@@ -362,8 +366,8 @@
362
366
  <parent link="right_hand_middle_proximal"/>
363
367
  <child link="right_hand_middle_middle"/>
364
368
  <axis xyz="0 0 1"/>
365
- <limit effort="1" lower="-1.56" upper="0.04545" velocity="0.5"/>
366
- <!-- <mimic joint="right_hand_middle_MCP_joint" multiplier="1.06399" offset="-0.16734800000000002"/> -->
369
+ <limit effort="1" lower="-1.5930946000000001" upper="0.04545" velocity="0.5"/>
370
+ <mimic joint="right_hand_middle_MCP_joint" multiplier="1.06399" offset="-0.16734800000000002"/>
367
371
  </joint>
368
372
  <link name="right_hand_ring_proximal">
369
373
  <inertial>
@@ -374,13 +378,13 @@
374
378
  <visual>
375
379
  <origin rpy="0 0 0" xyz="0 0 0"/>
376
380
  <geometry>
377
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/index_ring_proximal.glb"/>
381
+ <mesh filename="../meshes/visual/index_ring_proximal.glb"/>
378
382
  </geometry>
379
383
  </visual>
380
384
  <collision>
381
385
  <origin rpy="0 0 0" xyz="0 0 0"/>
382
386
  <geometry>
383
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/index_ring_proximal.glb"/>
387
+ <mesh filename="../meshes/visual/index_ring_proximal.glb"/>
384
388
  </geometry>
385
389
  </collision>
386
390
  </link>
@@ -400,13 +404,13 @@
400
404
  <visual>
401
405
  <origin rpy="0 0 0" xyz="0 0 0"/>
402
406
  <geometry>
403
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/index_ring_middle.glb"/>
407
+ <mesh filename="../meshes/visual/index_ring_middle.glb"/>
404
408
  </geometry>
405
409
  </visual>
406
410
  <collision>
407
411
  <origin rpy="0 0 0" xyz="0 0 0"/>
408
412
  <geometry>
409
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/index_ring_middle.glb"/>
413
+ <mesh filename="../meshes/visual/index_ring_middle.glb"/>
410
414
  </geometry>
411
415
  </collision>
412
416
  </link>
@@ -415,8 +419,8 @@
415
419
  <parent link="right_hand_ring_proximal"/>
416
420
  <child link="right_hand_ring_middle"/>
417
421
  <axis xyz="0 0 1"/>
418
- <limit effort="1" lower="-1.56" upper="0.04545" velocity="0.5"/>
419
- <!-- <mimic joint="right_hand_ring_MCP_joint" multiplier="1.06399" offset="-0.16734800000000002"/> -->
422
+ <limit effort="1" lower="-1.5930946000000001" upper="0.04545" velocity="0.5"/>
423
+ <mimic joint="right_hand_ring_MCP_joint" multiplier="1.06399" offset="-0.16734800000000002"/>
420
424
  </joint>
421
425
  <link name="right_hand_pinky_proximal">
422
426
  <inertial>
@@ -427,13 +431,13 @@
427
431
  <visual>
428
432
  <origin rpy="0 0 0" xyz="0 0 0"/>
429
433
  <geometry>
430
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/middle_pinky_proximal.glb"/>
434
+ <mesh filename="../meshes/visual/middle_pinky_proximal.glb"/>
431
435
  </geometry>
432
436
  </visual>
433
437
  <collision>
434
438
  <origin rpy="0 0 0" xyz="0 0 0"/>
435
439
  <geometry>
436
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/middle_pinky_proximal.glb"/>
440
+ <mesh filename="../meshes/visual/middle_pinky_proximal.glb"/>
437
441
  </geometry>
438
442
  </collision>
439
443
  </link>
@@ -453,13 +457,13 @@
453
457
  <visual>
454
458
  <origin rpy="0 0 0" xyz="0 0 0"/>
455
459
  <geometry>
456
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/pinky_middle.glb"/>
460
+ <mesh filename="../meshes/visual/pinky_middle.glb"/>
457
461
  </geometry>
458
462
  </visual>
459
463
  <collision>
460
464
  <origin rpy="0 0 0" xyz="0 0 0"/>
461
465
  <geometry>
462
- <mesh filename="../../../meshes/end_effector/inspire_hand/visual/pinky_middle.glb"/>
466
+ <mesh filename="../meshes/visual/pinky_middle.glb"/>
463
467
  </geometry>
464
468
  </collision>
465
469
  </link>
@@ -468,8 +472,8 @@
468
472
  <parent link="right_hand_pinky_proximal"/>
469
473
  <child link="right_hand_pinky_middle"/>
470
474
  <axis xyz="0 0 1"/>
471
- <limit effort="1" lower="-1.56" upper="0.04545" velocity="0.5"/>
472
- <!-- <mimic joint="right_hand_pinky_MCP_joint" multiplier="1.06399" offset="-0.16734800000000002"/> -->
475
+ <limit effort="1" lower="-1.5930946000000001" upper="0.04545" velocity="0.5"/>
476
+ <mimic joint="right_hand_pinky_MCP_joint" multiplier="1.06399" offset="-0.16734800000000002"/>
473
477
  </joint>
474
478
  <link name="right_hand_thumb_tip"/>
475
479
  <joint name="right_hand_thumb_tip_joint" type="fixed">
@@ -501,5 +505,4 @@
501
505
  <parent link="right_hand_pinky_middle"/>
502
506
  <child link="right_hand_pinky_tip"/>
503
507
  </joint>
504
- <!-- Left arm -->
505
508
  </robot>
{mani_skill_nightly-2025.5.20.817.dist-info → mani_skill_nightly-2025.5.20.2330.dist-info}/METADATA RENAMED
@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.1
2
2
  Name: mani-skill-nightly
3
- Version: 2025.5.20.817
3
+ Version: 2025.5.20.2330
4
4
  Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
5
5
  Home-page: https://github.com/haosulab/ManiSkill
6
6
  Author: ManiSkill contributors