mani-skill-nightly 2025.7.16.652__py3-none-any.whl → 2025.7.25.329__py3-none-any.whl

mani_skill/agents/robots/xarm6/xarm6_robotiq.py

@@ -214,7 +214,7 @@ class XArm6Robotiq(BaseAgent):
         # -------------------------------------------------------------------------- #
 
         # Define a passive controller config to simply "turn off" other joints from being controlled and set their properties (damping/friction) to 0.
-        # These joints are controlled passively by the mimic controller later on.
+        # These joints are not explicitly controlled, and are free to move as per surrounding forces.
         passive_finger_joint_names = [
             "left_inner_knuckle_joint",
             "right_inner_knuckle_joint",
@@ -231,6 +231,9 @@ class XArm6Robotiq(BaseAgent):
         finger_joint_names = ["left_outer_knuckle_joint", "right_outer_knuckle_joint"]
 
         # Use a mimic controller config to define one action to control both fingers
+        mimic_config = dict(
+            left_outer_knuckle_joint=dict(joint="right_outer_knuckle_joint", multiplier=1.0, offset=0.0),
+        )
         finger_mimic_pd_joint_pos = PDJointPosMimicControllerConfig(
             finger_joint_names,
             lower=None,
@@ -240,6 +243,7 @@ class XArm6Robotiq(BaseAgent):
             force_limit=self.gripper_force_limit,
             friction=self.gripper_friction,
             normalize_action=False,
+            mimic=mimic_config,
         )
 
         finger_mimic_pd_joint_delta_pos = PDJointPosMimicControllerConfig(
@@ -252,6 +256,7 @@ class XArm6Robotiq(BaseAgent):
             friction=self.gripper_friction,
             normalize_action=True,
             use_delta=True,
+            mimic=mimic_config,
         )
 
         controller_configs = dict(

{mani_skill_nightly-2025.7.16.652.dist-info → mani_skill_nightly-2025.7.25.329.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.7.16.652
+Version: 2025.7.25.329
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.7.16.652.dist-info → mani_skill_nightly-2025.7.25.329.dist-info}/RECORD

@@ -71,7 +71,7 @@ mani_skill/agents/robots/xarm/__init__.py,sha256=6Mhn4vV4f9XxcK493U5W9VE6yGGgydP
 mani_skill/agents/robots/xarm/xarm7_ability.py,sha256=yj7CUBQpbGVUiT22qweJKTniJE0DxdEyyKj329vr0HY,6106
 mani_skill/agents/robots/xarm6/__init__.py,sha256=0r19OsKmm1ssKB5Rrie8syWQvpXNooVOv6m-iygrdM0,109
 mani_skill/agents/robots/xarm6/xarm6_nogripper.py,sha256=FPhOpWQw5RPsSHLhZ9JWjYeh25GboO4I5_Hn05Ub84Q,7379
-mani_skill/agents/robots/xarm6/xarm6_robotiq.py,sha256=80DsYdfcPbqL-o1VjZ_KkTWweEH1a9NS9y4lFHCtMSk,16129
+mani_skill/agents/robots/xarm6/xarm6_robotiq.py,sha256=0JPtaa3kchle2XqNjltiuPuntC0YMwn-HfejX3gI2uc,16358
 mani_skill/assets/maniskill2-scene-2.glb,sha256=C5om9o9r6B-fWoauzNfUm2WV5sh8Nf7AvZRlYo1-IXQ,4737204
 mani_skill/assets/deformable_manipulation/beaker.glb,sha256=MMaoH6OruVSzO8CKuK2AMyaxA5kjsbbDQXyTVycWsPI,18104
 mani_skill/assets/deformable_manipulation/bottle.glb,sha256=AHWoATBEBeesfbiYNfSB0O0PWhsH0oa2wUBv79w9AVA,36476
@@ -827,8 +827,8 @@ mani_skill/vector/wrappers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJ
 mani_skill/vector/wrappers/gymnasium.py,sha256=aNPB-2oGDLep8qzdsuTSIlwGGO0OGQAQ193LefOGoTk,7434
 mani_skill/vector/wrappers/sb3.py,sha256=SlXdiEPqcNHYMhJCzA29kBU6zK7DKTe1nc0L6Z3QQtY,4722
 mani_skill/viewer/__init__.py,sha256=srvDBsk4LQU75K2VIttrhiQ68p_ro7PSDqQRls2PY5c,1722
-mani_skill_nightly-2025.7.16.652.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.7.16.652.dist-info/METADATA,sha256=nQX9LU5x3aBDXUSvbsL8fYUz68hbRwcppNKGRoi3odU,9271
-mani_skill_nightly-2025.7.16.652.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.7.16.652.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.7.16.652.dist-info/RECORD,,
+mani_skill_nightly-2025.7.25.329.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.7.25.329.dist-info/METADATA,sha256=ZORmjNSU7HXw-F69GCdOiTQnUMeQKOaCBbpJIfaMCP8,9271
+mani_skill_nightly-2025.7.25.329.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.7.25.329.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.7.25.329.dist-info/RECORD,,