upgrade to dexsim 0.3.7

embodichain/lab/sim/objects/gizmo.py

@@ -40,7 +40,6 @@
     RigidBodyShape,
     PhysicalAttr,
 )
-from dexsim.render import GizmoController
 
 from embodichain.lab.sim.utility.gizmo_utils import create_gizmo_callback
 
@@ -421,7 +420,7 @@ def toggle_visibility(self) -> bool:
 
         # Apply the visibility setting to the gizmo node
         if self._gizmo and hasattr(self._gizmo, "node"):
-            self._gizmo.node.set_physical_visible(self._is_visible, self._is_visible)
+            self._gizmo.node.set_visible(self._is_visible)
 
         return self._is_visible
 
@@ -436,7 +435,7 @@ def set_visibility(self, visible: bool):
 
         # Apply the visibility setting to the gizmo node
         if self._gizmo and hasattr(self._gizmo, "node"):
-            self._gizmo.node.set_physical_visible(self._is_visible, self._is_visible)
+            self._gizmo.node.set_visible(self._is_visible)
 
     def is_visible(self) -> bool:
         """

embodichain/lab/sim/sim_manager.py

@@ -46,7 +46,7 @@
 from dexsim.engine import CudaArray, Material
 from dexsim.models import MeshObject
 from dexsim.render import Light as _Light, LightType
-from dexsim.render import GizmoController
+from dexsim.engine import GizmoController
 
 from embodichain.lab.sim.objects import (
     RigidObject,
@@ -1046,12 +1046,13 @@ def enable_gizmo(
 
             # Initialize GizmoController if not already done.
             if not hasattr(self, "_gizmo_controller") or self._gizmo_controller is None:
-                windows = (
+                window = (
                     self._world.get_windows()
                     if hasattr(self._world, "get_windows")
                     else None
                 )
-                self._gizmo_controller = GizmoController(windows)
+                self._gizmo_controller = GizmoController()
+                window.add_input_control(self._gizmo_controller)
 
         except Exception as e:
             logger.log_error(

examples/sim/demo/press_softbody.py

@@ -39,6 +39,7 @@
     SoftObjectCfg,
     SoftbodyVoxelAttributesCfg,
     SoftbodyPhysicalAttributesCfg,
+    URDFCfg,
 )
 from embodichain.lab.sim.shapes import MeshCfg
 
@@ -100,12 +101,19 @@ def create_robot(sim: SimulationManager):
     # Configure the robot with its components and control properties
     cfg = RobotCfg(
         uid="UR10",
-        fpath=ur10_urdf_path,
-        solver_cfg=PytorchSolverCfg(
-            end_link_name="ee_link",
-            root_link_name="base_link",
-            tcp=np.eye(4),
+        urdf_cfg=URDFCfg(
+            components=[{"component_type": "arm", "urdf_path": ur10_urdf_path}]
         ),
+        control_parts={
+            "arm": ["Joint[0-9]"],
+        },
+        solver_cfg={
+            "arm": PytorchSolverCfg(
+                end_link_name="ee_link",
+                root_link_name="base_link",
+                tcp=np.eye(4),
+            )
+        },
         init_qpos=[
             0.0,
             -np.pi / 2,
@@ -133,13 +141,14 @@ def create_soft_cow(sim: SimulationManager) -> SoftObject:
             shape=MeshCfg(
                 fpath=get_resources_data_path("Model", "cow", "cow2.obj"),
             ),
-            init_pos=[0.5, 0.0, 0.3],
+            init_rot=[0, 90, 0],
+            init_pos=[0.45, -0.1, 0.12],
             voxel_attr=SoftbodyVoxelAttributesCfg(
                 simulation_mesh_resolution=8,
                 maximal_edge_length=0.5,
             ),
             physical_attr=SoftbodyPhysicalAttributesCfg(
-                youngs=1e4,
+                youngs=5e3,
                 poissons=0.45,
                 density=100,
                 dynamic_friction=0.1,
@@ -162,7 +171,7 @@ def press_cow(sim: SimulationManager, robot: Robot):
 
     arm_start_xpos = robot.compute_fk(arm_start_qpos, name="arm", to_matrix=True)
     press_xpos = arm_start_xpos.clone()
-    press_xpos[:, :3, 3] = torch.tensor([0.5, -0.1, 0.01], device=press_xpos.device)
+    press_xpos[:, :3, 3] = torch.tensor([0.5, -0.1, 0.005], device=press_xpos.device)
 
     approach_xpos = press_xpos.clone()
     approach_xpos[:, 2, 3] += 0.05

examples/sim/gizmo/gizmo_w1.py

@@ -104,8 +104,9 @@ def main():
             ),
         },
         drive_pros=JointDrivePropertiesCfg(
-            stiffness={"LEFT_J[1-7]": 1e4, "RIGHT_J[1-7]": 1e4},
-            damping={"LEFT_J[1-7]": 1e3, "RIGHT_J[1-7]": 1e3},
+            stiffness={"(LEFT|RIGHT)_J[1-7]": 1e4, "(ANKLE|KNEE|BUTTOCK|WAIST)": 1e7},
+            damping={"(LEFT|RIGHT)_J[1-7]": 1e3, "(ANKLE|KNEE|BUTTOCK|WAIST)": 1e4},
+            max_effort={"(LEFT|RIGHT)_J[1-7]": 1e5, "(ANKLE|KNEE|BUTTOCK|WAIST)": 1e10},
         ),
     )
     robot = sim.add_robot(cfg=robot_cfg)

examples/sim/solvers/pink_solver.py

@@ -149,9 +149,7 @@ def main():
         if ik_qpos.dim() == 3:
             robot.set_qpos(qpos=ik_qpos[0][0], joint_ids=robot.get_joint_ids(arm_name))
         else:
-            robot.set_qpos(
-                qpos=ik_qpos.unsqueeze(0), joint_ids=robot.get_joint_ids(arm_name)
-            )
+            robot.set_qpos(qpos=ik_qpos, joint_ids=robot.get_joint_ids(arm_name))
 
         # Visualize current pose
         ik_xpos = robot.compute_fk(qpos=ik_qpos, name=arm_name, to_matrix=True)

pyproject.toml

@@ -27,7 +27,7 @@ requires-python = ">=3.10"
 # Core install dependencies (kept from requirements.txt). Some VCS links are
 # specified using PEP 508 direct references where present.
 dependencies = [
-  "dexsim_engine @ http://pyp.open3dv.site:2345/packages/dexsim_engine-0.3.6-cp310-cp310-manylinux_2_31_x86_64.whl",
+  "dexsim_engine @ http://pyp.open3dv.site:2345/packages/dexsim_engine-0.3.7-cp310-cp310-manylinux_2_31_x86_64.whl",
   "setuptools>=78.1.1",
   "gymnasium==0.29.1",
   "casadi==3.7.1",