Implementation:Haosulab ManiSkill FixedInspireHand

Knowledge Sources	Haosulab_ManiSkill
Domains	Robotics, Simulation, Dexterous_Manipulation
Last Updated	2026-02-15 08:00 GMT

Overview

Concrete tool for simulating the Fixed (non-floating) Inspire Hand dexterous robot hand in ManiSkill environments.

Description

The FixedInspireHand defines two classes -- FixedInspireHandRight (uid: fixed_inspire_hand_right) and FixedInspireHandLeft (uid: fixed_inspire_hand_left). Each inherits from the corresponding FloatingInspireHand variant but removes the floating base joints. The fixed version has 14 total DOF: 2 wrist joints (pitch, yaw), 6 actively controlled finger joints (thumb CMC yaw/pitch, index/middle/ring/pinky MCP), and 6 passive mimic joints (thumb MCP/IP, index/middle/ring/pinky PIP). The passive joints use very low damping (0.001) required for correct PhysX simulation. Controller configs define wrist and finger controllers separately with position and delta-position modes.

uid: fixed_inspire_hand_right / fixed_inspire_hand_left

URDF path: {PACKAGE_ASSET_DIR}/robots/inspire_hand/RH56DFX-2LR/urdf/inspire_hand_right.urdf (right) / inspire_hand_left.urdf (left)

Supported control modes: pd_joint_pos, pd_joint_delta_pos

Usage

Use FixedInspireHand for dexterous manipulation tasks where the hand is mounted on a fixed base (e.g., attached to an arm). Suitable for in-hand manipulation benchmarks where the wrist and finger motions are the primary control targets. The fixed base removes the need to control the hand's global pose.

Code Reference

Source Location

• Repository: Haosulab_ManiSkill
• File: mani_skill/agents/robots/inspire_hand/fixed_inspire_hand.py

Signature

@register_agent()
class FixedInspireHandRight(FloatingInspireHandRight):
    uid = "fixed_inspire_hand_right"
    urdf_path = f"{PACKAGE_ASSET_DIR}/robots/inspire_hand/RH56DFX-2LR/urdf/inspire_hand_right.urdf"
    keyframes = dict(palm_side=Keyframe(...), palm_up=Keyframe(...))

@register_agent()
class FixedInspireHandLeft(FloatingInspireHandLeft):
    uid = "fixed_inspire_hand_left"
    urdf_path = f"{PACKAGE_ASSET_DIR}/robots/inspire_hand/RH56DFX-2LR/urdf/inspire_hand_left.urdf"

Import

from mani_skill.agents.robots.inspire_hand.fixed_inspire_hand import FixedInspireHandRight, FixedInspireHandLeft

I/O Contract

Inputs

Name	Type	Required	Description
(inherited from BaseAgent)

Outputs

Name	Type	Description
robot agent	FixedInspireHandRight / FixedInspireHandLeft	Configured fixed dexterous hand with wrist, finger, and passive controllers

Usage Examples

Creating Environment with Robot

import gymnasium as gym
import mani_skill.envs

env = gym.make("RotateSingleObjectInHand-v1", robot_uids="fixed_inspire_hand_right")
obs, info = env.reset()

Related Pages

• Environment:Haosulab_ManiSkill_Python_SAPIEN_Core