fix some examples (#118)

Co-authored-by: Yueci Deng <dengyueci@qq.com>

Author: liguilong256

examples/sim/demo/press_softbody.py

@@ -179,11 +179,8 @@ 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
     )

examples/sim/gizmo/gizmo_object.py

@@ -52,6 +52,7 @@ def main():
         default=False,
         help="Enable ray tracing for better visuals",
     )
+
     args = parser.parse_args()
 
     # Configure the simulation
@@ -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!")

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__":

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__":

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__":

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__":

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__":

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__":