Finger joints not moving for GR1 with inspire hands

[chaitanya1chawla]

System Info

Robosuite version: 1.5.0

Information

Tried spawning GR1ArmsOnly with inspire hands, but not able to control the finger joints.

I tried sending commands through env.step(action) as well as setting directly, via env.sim.data.ctrl[i] with a torque control.
Am I missing something?

    env = suite.make(
        env_name="Lift",
        robots="GR1ArmsOnly",
        gripper_types=["InspireRightHand", "InspireLeftHand"],
        env_configuration="bimanual",
        render_camera="agentview",
        controller_configs=load_controller_config(default_controller="OSC_POSE"), ##  args.controller_config
        has_renderer=True,
        has_offscreen_renderer=False,
        control_freq=20,
        ignore_done=True,
        use_camera_obs=False,
        reward_shaping=True,
        hard_reset=False,
    )
    env = VisualizationWrapper(env, indicator_configs=None)

    while True:
             obs=env.reset()
             env.render()
             flag=True
                   while flag=True:
                           action[:] += 0.001  # The arm joints move, but not the finger joints.
                           obs, reward, done, info = env.step(action)
                           env.render()