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fix some examples #118

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3957640
fix some examples
liguilong256 Feb 4, 2026
3e2d57a
fixed the incorrect parts
liguilong256 Feb 5, 2026
b7a88ba
Merge branch 'main' into guilong/fix_example
yuecideng Feb 6, 2026
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6 changes: 2 additions & 4 deletions examples/sim/demo/press_softbody.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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(
approach_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
)
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3 changes: 2 additions & 1 deletion examples/sim/gizmo/gizmo_object.py
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Expand Up @@ -52,6 +52,7 @@ def main():
default=False,
help="Enable ray tracing for better visuals",
)

args = parser.parse_args()

# Configure the simulation
Expand Down Expand Up @@ -103,7 +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!")
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2 changes: 1 addition & 1 deletion examples/sim/solvers/differential_solver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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__":
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2 changes: 1 addition & 1 deletion examples/sim/solvers/opw_solver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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__":
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2 changes: 1 addition & 1 deletion examples/sim/solvers/pink_solver.py
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Expand Up @@ -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__":
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2 changes: 1 addition & 1 deletion examples/sim/solvers/pinocchio_solver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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__":
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2 changes: 1 addition & 1 deletion examples/sim/solvers/pytorch_solver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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__":
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2 changes: 1 addition & 1 deletion examples/sim/solvers/srs_solver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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__":
Expand Down
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