Code:

import wximport Sim as sim #This is the physics simulationclass MainFrame(wx.Frame):    def __init__(self):        wx.Frame.__init__(self, None, wx.ID_ANY, "Digitaler Zwilling", size=(800, 600))        self.panel = Panel(self)        self.sizer = wx.BoxSizer(wx.VERTICAL)        self.sizer.Add(self.panel, 0, wx.EXPAND, 0)        self.SetSizer(self.sizer)class Panel(wx.Panel):    def __init__(self, parent):        wx.Panel.__init__(self, parent = parent)        # ____Buttons_____#        start_btn = wx.Button(self, -1, label = "Start", pos = (635, 450), size = (95, 55))        start_btn.Bind(wx.EVT_BUTTON, self.start)    def start(self, event):       sim.start   if __name__ == '__main__':    app = wx.App(False)    frame = MainFrame()    frame.Show()    app.MainLoop()

Code:

import pybullet as pimport pybullet_data as pdimport timedef start():    p.connect(p.GUI)    p.setAdditionalSearchPath(pd.getDataPath())    plane = p.loadURDF("plane.urdf")    p.setGravity(0, 0, -9.8)    p.setTimeStep(1./500)    # p.setDefaultContactERP(0)    # urdfFlags = p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS    urdfFlags = p.URDF_USE_SELF_COLLISION    quadruped = p.loadURDF("laikago/laikago_toes.urdf", [0, 0, .5], [0, 0.5, 0.5, 0],                           flags = urdfFlags,                           useFixedBase = False)    # enable collision between lower legs    for j in range(p.getNumJoints(quadruped)):        print(p.getJointInfo(quadruped, j))    # 2,5,8 and 11 are the lower legs    lower_legs = [2, 5, 8, 11]    for l0 in lower_legs:        for l1 in lower_legs:            if (l1 > l0):                enableCollision = 1                print("collision for pair", l0, l1,                      p.getJointInfo(quadruped, l0) [12],                      p.getJointInfo(quadruped, l1) [12], "enabled=", enableCollision)                p.setCollisionFilterPair(quadruped, quadruped, 2, 5, enableCollision)    jointIds = []    paramIds = []    jointOffsets = []    jointDirections = [-1, 1, 1, 1, 1, 1, -1, 1, 1, 1, 1, 1]    jointAngles = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]    for i in range(4):        jointOffsets.append(0)        jointOffsets.append(-0.7)        jointOffsets.append(0.7)    maxForceId = p.addUserDebugParameter("maxForce", 0, 100, 20)    for j in range(p.getNumJoints(quadruped)):        p.changeDynamics(quadruped, j, linearDamping = 0, angularDamping = 0)        info = p.getJointInfo(quadruped, j)        # print(info)        jointName = info [1]        jointType = info [2]        if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):            jointIds.append(j)    p.getCameraImage(480, 320)    p.setRealTimeSimulation(0)    joints = []    with open(pd.getDataPath() + "/laikago/data1.txt", "r") as filestream:        for line in filestream:            print("line=", line)            maxForce = p.readUserDebugParameter(maxForceId)            currentline = line.split(",")            # print (currentline)            # print("-----")            frame = currentline [0]            t = currentline [1]            # print("frame[",frame,"]")            joints = currentline [2:14]            # print("joints=",joints)            for j in range(12):                targetPos = float(joints [j])                p.setJointMotorControl2(quadruped,                                        jointIds [j],                                        p.POSITION_CONTROL,                                        jointDirections [j]*targetPos + jointOffsets [j],                                        force = maxForce)            p.stepSimulation()            for lower_leg in lower_legs:                # print("points for ", quadruped, " link: ", lower_leg)                pts = p.getContactPoints(quadruped, -1, lower_leg)                # print("num points=",len(pts))                # for pt in pts:                # print(pt[9])            time.sleep(1./500.)    index = 0    for j in range(p.getNumJoints(quadruped)):        p.changeDynamics(quadruped, j, linearDamping = 0, angularDamping = 0)        info = p.getJointInfo(quadruped, j)        js = p.getJointState(quadruped, j)        # print(info)        jointName = info [1]        jointType = info [2]        if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):            paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"), -4, 4,                                                    (js [0] - jointOffsets [index])/jointDirections [index]))            index = index + 1    p.setRealTimeSimulation(1)    while (1):        for i in range(len(paramIds)):            c = paramIds [i]            targetPos = p.readUserDebugParameter(c)            maxForce = p.readUserDebugParameter(maxForceId)            p.setJointMotorControl2(quadruped,                                    jointIds [i],                                    p.POSITION_CONTROL,                                    jointDirections [i]*targetPos + jointOffsets [i],                                    force = maxForce)

Code:

def start(self, event):    self.create_thread(sim.start)def create_thread(self, target):    thread = threading.Thread(target=target)    thread.daemon = True    thread.start()