Inspire Hand

[omarrayyann]

Adding Inspire Hand RH56DFX. let me know if you have any suggested modifications + i'm not 100% sure about the LICENSE

[jonzamora]

Hi @omarrayyann , thanks for contributing this model!

I have 3 small nits:

1. Could you update scene_left.xml and scene_right.xml with <statistic extent="0.3" center="0 0.075 0"/>?
2. Update the MuJoCo model names in scene_left.xml and scene_right.xml with the correct naming convention:
   • <mujoco model="left_inspire_hand scene">
   • <mujoco model="right_inspire_hand scene">
3. Change the ellipsoid object in scene_left.xml and scene_right.xml to have the same size: size="0.02 0.03 0.01"

This ensures better visualization of the hands when loaded in the MuJoCo viewer and correct naming of each model + consistent sizing of the ellipsoid object like in the Shadow Hand example 🙌

When done, it should look like below:

[omarrayyann]

Done @jonzamora

[kevinzakka]

Wow, thanks @jonzamora for the review and @omarrayyann for the contribution!!

[Marco2929]

Could you merge it please? 😊

[kevinzakka]

@omarrayyann I'm a little sussed out about the license and the provenance of the original XML. I would much rather make the XML from scratch by converting the pristine URDF found on their website. We should also try to ideally find some kind of URDF hosted on the company GitHub (if it exists) that way we can attach a commit SHA to the initial conversion.

[youwyu]

I'm afraid this model is not realistic. It's too strong. For example, it can handle 100Kg object without deforming, and anything below 50Kg will immediately fly after contacting with the finger torques.