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

{mani_skill_nightly-2025.5.20.817.dist-info → mani_skill_nightly-2025.5.20.2330.dist-info}/RECORD

@@ -15,7 +15,7 @@ mani_skill/agents/controllers/pd_joint_pos_vel.py,sha256=wgiXmenTVIao1Tm1vtdJWTZ
 mani_skill/agents/controllers/pd_joint_vel.py,sha256=VZF06ISCkdKBX_fUHxb7mdl9GN1Lob5dhrFGlwCx16Q,1957
 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=FM8_5M8AQOQL4onHTRKAVpy0JyGPgZ0pZkXIObcXKLc,631
+mani_skill/agents/robots/__init__.py,sha256=Wva1cg21zTnZWtLCsHvInCmUEFmkJDvj1k2Vt42ov9M,713
 mani_skill/agents/robots/allegro_hand/__init__.py,sha256=PWH6MMv2i5g1xi76_E-YJLtKFLVKxkJgQ96GD_YeQN4,104
 mani_skill/agents/robots/allegro_hand/allegro.py,sha256=MnU04fCcvppTGJHdhgvs2OqUKToQtNMXbs2bFM5sXiU,4896
 mani_skill/agents/robots/allegro_hand/allegro_touch.py,sha256=CMnGIf1JT7jbrM5jc-OHfODeYiwrUp8rzuS9rUMzmK4,5805
@@ -25,8 +25,6 @@ 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=dfyGocH4RKojvvhipkwtoIeBIoS93xyBzblNJNFIDlU,15231
-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=JKPeE04oMQKo1lAZ48fDvZ6669XQc6s1PKftNVme8vk,7017
 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=sUzYnpEGDW_afwldcerl679wC-6HDEq-APNBSY6-WAo,5071
 mani_skill/agents/robots/floating_robotiq_2f_85_gripper/__init__.py,sha256=bBXRyK4ncX9Zv6R5NXEHD9f6hT9A2PZEsG0n4K76f00,71
@@ -35,6 +33,9 @@ mani_skill/agents/robots/googlerobot/__init__.py,sha256=a74XGTSr8w3p6llHs01SDniT
 mani_skill/agents/robots/googlerobot/googlerobot.py,sha256=y4EvHwPhfj0wF6gS7UVv2HpYKos6PpbSY_ZgVnFvDZ0,993
 mani_skill/agents/robots/humanoid/__init__.py,sha256=fP0TIhokMXDRgduz6BEvloeS6yNB-5_c0wI_cTFOiIU,31
 mani_skill/agents/robots/humanoid/humanoid.py,sha256=5Ad2oO6xO11proFQutvIsqDe5VPBTI5ImPvZaqIN0O4,3791
+mani_skill/agents/robots/inspire_hand/__init__.py,sha256=kFRoV4tHVkTvPtft8hOZg6MeGu7EA00JOAGUCW4R9KM,161
+mani_skill/agents/robots/inspire_hand/fixed_inspire_hand.py,sha256=dPu5CTSnGEhqtDzOclYllj2PHnvAwxpAKWuYk60WTNs,7891
+mani_skill/agents/robots/inspire_hand/floating_inspire_hand.py,sha256=_zhBWkiVuuWvg-4MS1T3Hx9QD2DNNebRHeMq2NtPJM0,14278
 mani_skill/agents/robots/koch/__init__.py,sha256=-bZbNQnXk6rlXgSkIG2umLENJkNqAQb7jnjTe3r5Jfs,23
 mani_skill/agents/robots/koch/koch.py,sha256=r5morOu6Fv35qpSm2OFhhO2Aaw2x9ZtT3wrET-YtiCw,6736
 mani_skill/agents/robots/koch/koch_real.py,sha256=w8lIzRsAZEvLGXbC598ktpGiHKuPp3XDspmU1xYXKqc,124
@@ -285,24 +286,26 @@ 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/inspire_hand/README.md,sha256=dfUuBT-n86lKVyjeolPIrcnQQARABH5h0lzoyAE_tQw,1425
+mani_skill/assets/robots/inspire_hand/RH56DFX-2LR/meshes/visual/L_hand_base_link.glb,sha256=8sdYcjXzi51tPAlUj2v2NkPJEPxbfo_3_zeP1snhqN8,606392
+mani_skill/assets/robots/inspire_hand/RH56DFX-2LR/meshes/visual/L_thumb_metacarpal_base.glb,sha256=VPQlDUlJaYHz1OK3HwftVr916PDmrDNxuxjq89vsNa0,16320
+mani_skill/assets/robots/inspire_hand/RH56DFX-2LR/meshes/visual/L_wrist_link.glb,sha256=Js1pTvoWJiYXG2UZpwfiuCt6epqb7HuLLyMGL-Ajo5w,13724
+mani_skill/assets/robots/inspire_hand/RH56DFX-2LR/meshes/visual/R_hand_base_link.glb,sha256=kdfXB1Reg07VFHAewGJQ9L4pHk1byFa6-sc5-BaoGfg,603912
+mani_skill/assets/robots/inspire_hand/RH56DFX-2LR/meshes/visual/R_thumb_metacarpal_base.glb,sha256=h2CCD4TcT5m0Phoc0EtkzMTPJQxkvloOG85eYU8qOfY,16360
+mani_skill/assets/robots/inspire_hand/RH56DFX-2LR/meshes/visual/R_wrist_link.glb,sha256=fG3nW7RVhHfM04XInw6HL2RQELdNhBIPJVPkvUmTQRY,13352
+mani_skill/assets/robots/inspire_hand/RH56DFX-2LR/meshes/visual/index_ring_middle.glb,sha256=YNc5FlbRWrHPpp-LZOOvkzrLYGFV0P2Worqqez8sIA8,102608
+mani_skill/assets/robots/inspire_hand/RH56DFX-2LR/meshes/visual/index_ring_proximal.glb,sha256=YFs1By33VAWwmAgOcdDMn-Usg_OuADJKqUR1a75hiVc,138072
+mani_skill/assets/robots/inspire_hand/RH56DFX-2LR/meshes/visual/middle_middle.glb,sha256=Y80yMFmQhrz4XC87JljU6DvQ-0wbzTXZ94ZjM9oHhLs,109040
+mani_skill/assets/robots/inspire_hand/RH56DFX-2LR/meshes/visual/middle_pinky_proximal.glb,sha256=H-ah0wIfdIk_aiU_4mvgY7DQv0kovo1bt5tE0WwIsmk,137972
+mani_skill/assets/robots/inspire_hand/RH56DFX-2LR/meshes/visual/pinky_middle.glb,sha256=AuTrHFkYZiP0Tscq3OZ7YeC0vSVR1qWBhybZxD85s6g,133500
+mani_skill/assets/robots/inspire_hand/RH56DFX-2LR/meshes/visual/thumb_distal.glb,sha256=XKZSZRHpXTD1I761himZk-hx3O4Tzf_cs2MU5Onb2eI,32032
+mani_skill/assets/robots/inspire_hand/RH56DFX-2LR/meshes/visual/thumb_metacarpal.glb,sha256=7tS9Amh9nFHFbhfw-zwCaeNQEf2D-FyUG7WzJ9r7r9Q,28272
+mani_skill/assets/robots/inspire_hand/RH56DFX-2LR/meshes/visual/thumb_proximal.glb,sha256=N3-3y2jsWlikZHd2lsvqBTo2anQOr9KYXpiFG8asltA,50864
+mani_skill/assets/robots/inspire_hand/RH56DFX-2LR/meshes/visual/wrist_base_link.glb,sha256=_FrPD4PDoq8xpMK_cgPmieQoYC4NXScsctzHJtQz1_k,297920
+mani_skill/assets/robots/inspire_hand/RH56DFX-2LR/urdf/inspire_hand_left.urdf,sha256=1Z9_c0KRG_8Lg9j9k-1EsXBPhVkS0kpOInPUuMk0ZG8,17303
+mani_skill/assets/robots/inspire_hand/RH56DFX-2LR/urdf/inspire_hand_left_floating.urdf,sha256=2TiYxzyZR8V_FFeZXfECeeBQB2wrhkgqdGanDvelGbE,20015
+mani_skill/assets/robots/inspire_hand/RH56DFX-2LR/urdf/inspire_hand_right.urdf,sha256=WGNT5GyJo1hOaJd144iZpr-kZFxCyzYV16mDKapBAy4,17086
+mani_skill/assets/robots/inspire_hand/RH56DFX-2LR/urdf/inspire_hand_right_floating.urdf,sha256=fEIy1N9n9QhHj3DQ9RSLDpbLntvC4dWNsMvfmwky9Bg,19799
 mani_skill/assets/robots/koch/LICENSE,sha256=-06KuHJCcCtEacPXdcgbLeHL11NuRd4cl_bJdp8qP9E,27626
 mani_skill/assets/robots/koch/README.md,sha256=7WxG-H8-CzK5xZWJrmVeN7l3231jpGiBigIGkDXKr_8,409
 mani_skill/assets/robots/koch/follower_arm_v1.1.srdf,sha256=qW7VTO4QmXq3l6Hfn3G4aC_dBXYsD-WXju6abbrW_vM,543
@@ -812,8 +815,8 @@ 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-2025.5.20.817.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.5.20.817.dist-info/METADATA,sha256=-hf9lDj5AznlLHn9bsIqse9hdbJJ3jJmi5Jg89pWUjs,9410
-mani_skill_nightly-2025.5.20.817.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.5.20.817.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.5.20.817.dist-info/RECORD,,
+mani_skill_nightly-2025.5.20.2330.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.5.20.2330.dist-info/METADATA,sha256=LZmxziVipqSgTbwn05CHXidWLXmyL20aO1JCJTM6gH8,9411
+mani_skill_nightly-2025.5.20.2330.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.5.20.2330.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.5.20.2330.dist-info/RECORD,,

mani_skill/agents/robots/floating_inspire_hand/__init__.py

@@ -1 +0,0 @@
-from .floating_inspire_hand import FloatingInspireHandRight

mani_skill/agents/robots/floating_inspire_hand/floating_inspire_hand.py

@@ -1,187 +0,0 @@
-from copy import deepcopy
-
-import numpy as np
-import sapien
-from transforms3d.euler import euler2quat
-
-from mani_skill import PACKAGE_ASSET_DIR
-from mani_skill.agents.base_agent import BaseAgent, Keyframe
-from mani_skill.agents.controllers import *
-from mani_skill.agents.registration import register_agent
-
-
-@register_agent()
-class FloatingInspireHandRight(BaseAgent):
-    uid = "floating_inspire_hand_right"
-    urdf_path = f"{PACKAGE_ASSET_DIR}/robots/inspire_hand/urdf/end_effector/inspire_hand/inspire_hand_right_floating.urdf"
-    urdf_config = dict(
-        _materials=dict(
-            finger=dict(static_friction=2.0, dynamic_friction=2.0, restitution=0.0)
-        ),
-        link=dict(
-            right_hand_hand_base_link=dict(
-                material="finger", patch_radius=0.1, min_patch_radius=0.1
-            ),
-            right_hand_thumb_distal=dict(
-                material="finger", patch_radius=0.1, min_patch_radius=0.1
-            ),
-            right_hand_thumb_metacarpal=dict(
-                material="finger", patch_radius=0.1, min_patch_radius=0.1
-            ),
-            right_hand_thumb_proximal=dict(
-                material="finger", patch_radius=0.1, min_patch_radius=0.1
-            ),
-            right_hand_index_proximal=dict(
-                material="finger", patch_radius=0.1, min_patch_radius=0.1
-            ),
-            right_hand_index_middle=dict(
-                material="finger", patch_radius=0.1, min_patch_radius=0.1
-            ),
-            right_hand_middle_proximal=dict(
-                material="finger", patch_radius=0.1, min_patch_radius=0.1
-            ),
-            right_hand_middle_middle=dict(
-                material="finger", patch_radius=0.1, min_patch_radius=0.1
-            ),
-            right_hand_ring_proximal=dict(
-                material="finger", patch_radius=0.1, min_patch_radius=0.1
-            ),
-            right_hand_ring_middle=dict(
-                material="finger", patch_radius=0.1, min_patch_radius=0.1
-            ),
-            right_hand_pinky_proximal=dict(
-                material="finger", patch_radius=0.1, min_patch_radius=0.1
-            ),
-            right_hand_pinky_middle=dict(
-                material="finger", patch_radius=0.1, min_patch_radius=0.1
-            ),
-        ),
-    )
-    disable_self_collisions = True
-    # you could model all of the fingers and disable certain impossible self collisions that occur
-    # but it is simpler and faster to just disable all self collisions. It is highly unlikely the hand self-collides to begin with.
-
-    root_joint_names = [
-        "root_x_axis_joint",
-        "root_y_axis_joint",
-        "root_z_axis_joint",
-        "root_x_rot_joint",
-        "root_y_rot_joint",
-        "root_z_rot_joint",
-    ]
-
-    keyframes = dict(
-        palm_side=Keyframe(
-            qpos=np.zeros(20),
-            pose=sapien.Pose(p=[0, 0, 0.4], q=euler2quat(0, 0, -np.pi / 2)),
-        )
-    )
-
-    @property
-    def _controller_configs(self):
-        float_pd_joint_pos = PDJointPosControllerConfig(
-            joint_names=self.root_joint_names,
-            lower=None,
-            upper=None,
-            stiffness=1e3,
-            damping=1e2,
-            force_limit=100,
-            normalize_action=False,
-        )
-        hand_joint_pos = PDJointPosControllerConfig(
-            joint_names=[
-                "right_hand_wrist_pitch_joint",
-                "right_hand_wrist_yaw_joint",
-                "right_hand_thumb_CMC_yaw_joint",
-            ],
-            lower=None,
-            upper=None,
-            stiffness=2e4,
-            damping=3e2,
-            force_limit=20,
-            normalize_action=False,
-        )
-        fingers_joint_pos = PDJointPosMimicControllerConfig(
-            joint_names=[
-                "right_hand_thumb_MCP_joint",
-                "right_hand_thumb_IP_joint",
-                "right_hand_index_PIP_joint",
-                "right_hand_middle_PIP_joint",
-                "right_hand_ring_PIP_joint",
-                "right_hand_pinky_PIP_joint",
-                "right_hand_thumb_CMC_pitch_joint",
-                "right_hand_index_MCP_joint",
-                "right_hand_middle_MCP_joint",
-                "right_hand_ring_MCP_joint",
-                "right_hand_pinky_MCP_joint",
-            ],
-            lower=None,
-            upper=None,
-            stiffness=2e4,
-            damping=3e2,
-            force_limit=20,
-            mimic={
-                "right_hand_thumb_MCP_joint": {
-                    "joint": "right_hand_thumb_CMC_pitch_joint",
-                    "multiplier": 1.3333333333333335,
-                    "offset": -0.08144869842640205,
-                },
-                "right_hand_thumb_IP_joint": {
-                    "joint": "right_hand_thumb_CMC_pitch_joint",
-                    "multiplier": 0.6666666666666667,
-                    "offset": -0.040724349213201026,
-                },
-                "right_hand_index_PIP_joint": {
-                    "joint": "right_hand_index_MCP_joint",
-                    "multiplier": 1.06399,
-                    "offset": -0.16734800000000002,
-                },
-                "right_hand_middle_PIP_joint": {
-                    "joint": "right_hand_middle_MCP_joint",
-                    "multiplier": 1.06399,
-                    "offset": -0.16734800000000002,
-                },
-                "right_hand_ring_PIP_joint": {
-                    "joint": "right_hand_ring_MCP_joint",
-                    "multiplier": 1.06399,
-                    "offset": -0.16734800000000002,
-                },
-                "right_hand_pinky_PIP_joint": {
-                    "joint": "right_hand_pinky_MCP_joint",
-                    "multiplier": 1.06399,
-                    "offset": -0.16734800000000002,
-                },
-            },
-            normalize_action=False,
-        )
-
-        hand_joint_delta_pos = deepcopy(hand_joint_pos)
-        hand_joint_delta_pos.use_delta = True
-        hand_joint_delta_pos.normalize_action = True
-        hand_joint_delta_pos.lower = -0.1
-        hand_joint_delta_pos.upper = 0.1
-
-        fingers_joint_delta_pos = deepcopy(fingers_joint_pos)
-        fingers_joint_delta_pos.use_delta = True
-        fingers_joint_delta_pos.normalize_action = True
-        fingers_joint_delta_pos.lower = -0.1
-        fingers_joint_delta_pos.upper = 0.1
-
-        float_pd_joint_delta_pos = deepcopy(float_pd_joint_pos)
-        float_pd_joint_delta_pos.use_delta = True
-        float_pd_joint_delta_pos.normalize_action = True
-        float_pd_joint_delta_pos.lower = -0.1
-        float_pd_joint_delta_pos.upper = 0.1
-
-        return dict(
-            pd_joint_pos=dict(
-                root=float_pd_joint_pos,
-                hand=hand_joint_pos,
-                fingers=fingers_joint_pos,
-            ),
-            pd_joint_delta_pos=dict(
-                root=float_pd_joint_delta_pos,
-                hand=hand_joint_delta_pos,
-                fingers=fingers_joint_delta_pos,
-            ),
-        )