From 39576404f10e15b8261f04d790f9609ac3a1c266 Mon Sep 17 00:00:00 2001 From: liguilong256 Date: Wed, 4 Feb 2026 11:05:02 +0800 Subject: [PATCH 1/3] fix some examples --- examples/sim/demo/press_softbody.py | 2 +- examples/sim/gizmo/gizmo_object.py | 3 +++ examples/sim/solvers/differential_solver.py | 2 +- examples/sim/solvers/opw_solver.py | 2 +- examples/sim/solvers/pink_solver.py | 2 +- examples/sim/solvers/pinocchio_solver.py | 2 +- examples/sim/solvers/pytorch_solver.py | 2 +- examples/sim/solvers/srs_solver.py | 2 +- 8 files changed, 10 insertions(+), 7 deletions(-) diff --git a/examples/sim/demo/press_softbody.py b/examples/sim/demo/press_softbody.py index 9f4ff44e..e8598b87 100644 --- a/examples/sim/demo/press_softbody.py +++ b/examples/sim/demo/press_softbody.py @@ -180,7 +180,7 @@ def press_cow(sim: SimulationManager, robot: Robot): approach_xpos, joint_seed=arm_start_qpos, name="arm" ) is_success, press_qpos = robot.compute_ik( - approach_xpos, joint_seed=arm_start_qpos, name="arm" + press_xpos, joint_seed=arm_start_qpos, name="arm" ) arm_trajectory = torch.concatenate([arm_start_qpos, approach_qpos, press_qpos]) diff --git a/examples/sim/gizmo/gizmo_object.py b/examples/sim/gizmo/gizmo_object.py index 1860ea1a..199cbd45 100644 --- a/examples/sim/gizmo/gizmo_object.py +++ b/examples/sim/gizmo/gizmo_object.py @@ -52,6 +52,9 @@ def main(): default=False, help="Enable ray tracing for better visuals", ) + parser.add_argument( + "--num_envs", type=int, default=1, help="Number of parallel environments" + ) args = parser.parse_args() # Configure the simulation diff --git a/examples/sim/solvers/differential_solver.py b/examples/sim/solvers/differential_solver.py index 27f00e73..7561752d 100644 --- a/examples/sim/solvers/differential_solver.py +++ b/examples/sim/solvers/differential_solver.py @@ -242,7 +242,7 @@ def main(visualize: bool = True): ) time.sleep(0.005) - embed(header="Test DifferentialSolver example. Press Ctrl-D to exit.") + embed(header="Test DifferentialSolver example. Press Ctrl+D to exit.") if __name__ == "__main__": diff --git a/examples/sim/solvers/opw_solver.py b/examples/sim/solvers/opw_solver.py index e19c23f9..76af05a2 100644 --- a/examples/sim/solvers/opw_solver.py +++ b/examples/sim/solvers/opw_solver.py @@ -187,7 +187,7 @@ def main(): else: robot.set_qpos(qpos=ik_qpos_r, joint_ids=robot.get_joint_ids(arm_name_r)) - embed(header="Test OPWSolver example. Press Ctrl-D to exit.") + embed(header="Test OPWSolver example. Press Ctrl+D to exit.") if __name__ == "__main__": diff --git a/examples/sim/solvers/pink_solver.py b/examples/sim/solvers/pink_solver.py index e63e3264..36731716 100644 --- a/examples/sim/solvers/pink_solver.py +++ b/examples/sim/solvers/pink_solver.py @@ -167,7 +167,7 @@ def main(): # Add delay to simulate motion time.sleep(0.005) - embed(header="Test PinkSolver example. Press Ctrl-D to exit.") + embed(header="Test PinkSolver example. Press Ctrl+D to exit.") if __name__ == "__main__": diff --git a/examples/sim/solvers/pinocchio_solver.py b/examples/sim/solvers/pinocchio_solver.py index af31adeb..0d5cdaf1 100644 --- a/examples/sim/solvers/pinocchio_solver.py +++ b/examples/sim/solvers/pinocchio_solver.py @@ -119,7 +119,7 @@ def main(): else: robot.set_qpos(qpos=ik_qpos, joint_ids=robot.get_joint_ids(arm_name)) - embed(header="Test PinocchioSolver example. Press Ctrl-D to exit.") + embed(header="Test PinocchioSolver example. Press Ctrl+D to exit.") if __name__ == "__main__": diff --git a/examples/sim/solvers/pytorch_solver.py b/examples/sim/solvers/pytorch_solver.py index d587dc36..5d954ff6 100644 --- a/examples/sim/solvers/pytorch_solver.py +++ b/examples/sim/solvers/pytorch_solver.py @@ -218,7 +218,7 @@ def main(): ) time.sleep(0.005) - embed(header="Test PytorchSolver batch example. Press Ctrl-D to exit.") + embed(header="Test PytorchSolver batch example. Press Ctrl+D to exit.") if __name__ == "__main__": diff --git a/examples/sim/solvers/srs_solver.py b/examples/sim/solvers/srs_solver.py index 314040ea..fd3e630b 100644 --- a/examples/sim/solvers/srs_solver.py +++ b/examples/sim/solvers/srs_solver.py @@ -77,7 +77,7 @@ def main(): print("fk_xpos_list: ", fk_xpos_list) print("ik_xpos_list: ", ik_xpos_list) - embed(header="Test SRSSolver example. Press Ctrl-D to exit.") + embed(header="Test SRSSolver example. Press Ctrl+D to exit.") if __name__ == "__main__": From 3e2d57a80944f1f69054c81ab9c64405bf25dd22 Mon Sep 17 00:00:00 2001 From: liguilong256 Date: Thu, 5 Feb 2026 16:37:37 +0800 Subject: [PATCH 2/3] fixed the incorrect parts --- examples/sim/demo/press_softbody.py | 6 ++---- examples/sim/gizmo/gizmo_object.py | 6 ++---- 2 files changed, 4 insertions(+), 8 deletions(-) diff --git a/examples/sim/demo/press_softbody.py b/examples/sim/demo/press_softbody.py index e8598b87..5c7c4aca 100644 --- a/examples/sim/demo/press_softbody.py +++ b/examples/sim/demo/press_softbody.py @@ -179,11 +179,9 @@ def press_cow(sim: SimulationManager, robot: Robot): is_success, approach_qpos = robot.compute_ik( approach_xpos, joint_seed=arm_start_qpos, name="arm" ) - is_success, press_qpos = robot.compute_ik( - press_xpos, joint_seed=arm_start_qpos, name="arm" - ) - arm_trajectory = torch.concatenate([arm_start_qpos, approach_qpos, press_qpos]) + + arm_trajectory = torch.concatenate([arm_start_qpos, approach_qpos]) interp_trajectory = interpolate_with_distance_warp( trajectory=arm_trajectory[None, :, :], interp_num=50, device=sim.device ) diff --git a/examples/sim/gizmo/gizmo_object.py b/examples/sim/gizmo/gizmo_object.py index 199cbd45..282d93a1 100644 --- a/examples/sim/gizmo/gizmo_object.py +++ b/examples/sim/gizmo/gizmo_object.py @@ -52,9 +52,7 @@ def main(): default=False, help="Enable ray tracing for better visuals", ) - parser.add_argument( - "--num_envs", type=int, default=1, help="Number of parallel environments" - ) + args = parser.parse_args() # Configure the simulation @@ -106,7 +104,7 @@ def main(): sim.enable_gizmo(uid="cube2") logger.log_info("Scene setup complete!") - logger.log_info(f"Running simulation with {args.num_envs} environment(s)") + logger.log_info(f"Running simulation with 1 environment(s)") if not args.headless: if sim.has_gizmo("cube1"): logger.log_info("Gizmo enabled for cube1 - you can drag it around!") From 45f0f914b9282b00f55e2fc2b56c3140d5baca72 Mon Sep 17 00:00:00 2001 From: liguilong256 Date: Fri, 6 Feb 2026 13:12:19 +0800 Subject: [PATCH 3/3] format press_softbody example with black --- examples/sim/demo/press_softbody.py | 1 - 1 file changed, 1 deletion(-) diff --git a/examples/sim/demo/press_softbody.py b/examples/sim/demo/press_softbody.py index 5c7c4aca..d41531bf 100644 --- a/examples/sim/demo/press_softbody.py +++ b/examples/sim/demo/press_softbody.py @@ -180,7 +180,6 @@ def press_cow(sim: SimulationManager, robot: Robot): approach_xpos, joint_seed=arm_start_qpos, name="arm" ) - arm_trajectory = torch.concatenate([arm_start_qpos, approach_qpos]) interp_trajectory = interpolate_with_distance_warp( trajectory=arm_trajectory[None, :, :], interp_num=50, device=sim.device