🔥 Remove simple play kinematics

2025-10-10 19:33:01 +02:00
parent 46bb5f74b1
commit f3f3864b83
5 changed files with 7 additions and 128 deletions
@@ -1,73 +0,0 @@
-import pybullet as pb
-import numpy as np
-import sys
-
-
-class GUI:
-    def __init__(self, quadruped):
-        self.cameraYaw = 0
-        self.cameraPitch = -7
-        self.cameraDist = 0.66
-
-        self.rollId = pb.addUserDebugParameter("roll", -np.pi / 4, np.pi / 4, 0.0)
-        self.pitchId = pb.addUserDebugParameter("pitch", -np.pi / 4, np.pi / 4, 0.0)
-        self.yawId = pb.addUserDebugParameter("yaw", -np.pi / 4, np.pi / 4, 0.0)
-        self.xId = pb.addUserDebugParameter("x", -0.10, 0.10, 0.0)
-        self.yId = pb.addUserDebugParameter("y", -0.10, 0.10, 0.0)
-        self.zId = pb.addUserDebugParameter("z", -0.055, 0.17, 0.0)
-
-        self.quadruped = quadruped
-
-    def updateCamera(self):
-        quadruped_position, _ = pb.getBasePositionAndOrientation(self.quadruped)
-        pb.resetDebugVisualizerCamera(
-            cameraDistance=self.cameraDist,
-            cameraYaw=self.cameraYaw,
-            cameraPitch=self.cameraPitch,
-            cameraTargetPosition=quadruped_position,
-        )
-
-    def handleInput(self):
-        keys = pb.getKeyboardEvents()
-        # Keys to change camera
-        if keys.get(100):  # D
-            self.cameraYaw += 1
-        if keys.get(97):  # A
-            self.cameraYaw -= 1
-        if keys.get(99):  # C
-            self.cameraPitch += 1
-        if keys.get(102):  # F
-            self.cameraPitch -= 1
-        if keys.get(122):  # Z
-            self.cameraDist += 0.01
-        if keys.get(120):  # X
-            self.cameraDist -= 0.01
-        if keys.get(27):  # ESC
-            pb.disconnect()
-            sys.exit()
-
-    def update(self):
-        self.updateCamera()
-        self.handleInput()
-
-    def getInput(self):
-        self.update()
-        position = np.array(
-            [
-                pb.readUserDebugParameter(self.xId),
-                pb.readUserDebugParameter(self.yId),
-                pb.readUserDebugParameter(self.zId),
-            ]
-        )
-        orientation = np.array(
-            [
-                pb.readUserDebugParameter(self.rollId),
-                pb.readUserDebugParameter(self.pitchId),
-                pb.readUserDebugParameter(self.yawId),
-            ]
-        )
-
-        return (
-            position,
-            orientation,
-        )