Create app.py

app.py

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+import pybullet as p
+import pybullet_data
+import numpy as np
+import matplotlib.pyplot as plt
+import tempfile
+import os
+import gradio as gr
+
+def simulate_robot(joint1, joint2):
+    # Start PyBullet (headless)
+    physicsClient = p.connect(p.DIRECT)
+    p.setAdditionalSearchPath(pybullet_data.getDataPath())
+    p.setGravity(0, 0, -9.8)
+
+    # Load ground and robot
+    p.loadURDF("plane.urdf")
+    robot = p.loadURDF("franka_panda/panda.urdf", basePosition=[0, 0, 0])
+
+    # Apply joint controls (just controlling 2 for demo)
+    p.setJointMotorControl2(robot, 1, p.POSITION_CONTROL, targetPosition=joint1)
+    p.setJointMotorControl2(robot, 3, p.POSITION_CONTROL, targetPosition=joint2)
+
+    # Step simulation
+    for _ in range(100):
+        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_array = np.reshape(img, (256, 256, 4))[:, :, :3]
+
+    # Save as temp image
+    temp_file = tempfile.NamedTemporaryFile(delete=False, suffix=".png")
+    plt.imsave(temp_file.name, rgb_array.astype(np.uint8))
+    p.disconnect()
+    return temp_file.name
+
+# Gradio Interface
+demo = gr.Interface(
+    fn=simulate_robot,
+    inputs=[
+        gr.Slider(-3.14, 3.14, value=0, label="Joint 1"),
+        gr.Slider(-3.14, 3.14, value=0, label="Joint 2"),
+    ],
+    outputs=gr.Image(type="filepath", label="Simulated Robot View"),
+    title="PyBullet Panda Simulation",
+    description="Control joint angles and simulate the Panda robot using PyBullet headless mode.",
+)
+
+if __name__ == "__main__":
+    demo.launch()