Update app.py

app.py

@@ -5,7 +5,6 @@ import matplotlib.pyplot as plt
 import tempfile
 import gradio as gr
 
-# Helper to get Panda arm and gripper joints
 def get_panda_joints(robot):
     revolute = []
     finger = []
@@ -19,47 +18,38 @@ def get_panda_joints(robot):
                 revolute.append(i)
     return revolute, finger
 
-# Simulation and rendering function
-def simulate_robot(j1, j2, j3, j4, gripper):
-    physicsClient = p.connect(p.DIRECT)
-    p.setAdditionalSearchPath(pybullet_data.getDataPath())
-    p.setGravity(0, 0, -9.8)
+# We will keep the simulation running globally
+physicsClient = p.connect(p.DIRECT)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+p.setGravity(0, 0, -9.8)
+p.loadURDF("plane.urdf")
+robot = p.loadURDF("franka_panda/panda.urdf", basePosition=[0, 0, 0])
+arm_joints, finger_joints = get_panda_joints(robot)
 
-    p.loadURDF("plane.urdf")
-    robot = p.loadURDF("franka_panda/panda.urdf", basePosition=[0,0,0])
-    arm_joints, finger_joints = get_panda_joints(robot)
-
-    # Set arm joint positions
+def update_robot(j1, j2, j3, j4, gripper):
     targets = [j1, j2, j3, j4]
     for idx, tgt in zip(arm_joints[:4], targets):
         p.setJointMotorControl2(robot, idx, p.POSITION_CONTROL, targetPosition=tgt)
 
-    # Gripper control
     for fj in finger_joints:
         p.setJointMotorControl2(robot, fj, p.POSITION_CONTROL, targetPosition=gripper)
 
-    for _ in range(100):
+    for _ in range(10):
         p.stepSimulation()
 
-    # Render image
     view_matrix = p.computeViewMatrix([1.5, 0, 1], [0, 0, 0.5], [0, 0, 1])
     proj_matrix = p.computeProjectionMatrixFOV(60, 1.0, 0.1, 3.1)
     _, _, img, _, _ = p.getCameraImage(256, 256, view_matrix, proj_matrix)
     rgb = np.reshape(img, (256, 256, 4))[:, :, :3]
 
-    # Save image
     tmp = tempfile.NamedTemporaryFile(delete=False, suffix=".png")
     plt.imsave(tmp.name, rgb.astype(np.uint8))
 
-    p.disconnect()
-
-    # Create joint info text
     joint_text = f"Joint Angles:\nJ1 = {j1:.2f} rad\nJ2 = {j2:.2f} rad\nJ3 = {j3:.2f} rad\nJ4 = {j4:.2f} rad\nGripper = {gripper:.3f} m"
     return tmp.name, joint_text
 
-# Gradio interface
 demo = gr.Interface(
-    fn=simulate_robot,
+    fn=update_robot,
     inputs=[
         gr.Slider(-3.14, 3.14, value=0, label="Joint 1"),
         gr.Slider(-3.14, 3.14, value=0, label="Joint 2"),
@@ -68,11 +58,12 @@ demo = gr.Interface(
         gr.Slider(0.0, 0.04, value=0.02, step=0.001, label="Gripper Opening")
     ],
     outputs=[
-        gr.Image(type="filepath", label="Simulation View"),
-        gr.Textbox(label="Joint States")
+        gr.Image(type="filepath", label="Live Simulation View"),
+        gr.Textbox(label="Live Joint States")
     ],
-    title="Panda Arm Simulation with Joint Display",
-    description="Control 4 Panda arm joints + gripper. The updated simulation view and joint states are shown below."
+    live=True,  # 💡 This enables real-time update!
+    title="Live Robot Control",
+    description="Move sliders to control robot joints and see live updates."
 )
 
 if __name__ == "__main__":