RicoJia

PINK = (179, 102, 255)
def draw_point(frame, coords): 
    cv2.circle(frame, coords, radius=2, color=PINK, thickness=-1)
def draw_box(frame, corners):
    cv2.rectangle(frame, corners[0], corners[1], PINK, 3)

RicoJia

corner_points = []
def mouse_drawing(event, x_temp, y_temp, flags, params):
    if event == cv2.EVENT_LBUTTONDOWN:
        global corner_points
        corner_points.append((x_temp, y_temp))
cv2.setMouseCallback("face_tracker", mouse_drawing)

RicoJia

corner_points = []
SET_ROI = False
def mouse_drawing(event, x_temp, y_temp, flags, params):
    if event == cv2.EVENT_LBUTTONDOWN:
        global corner_points
        corner_points.append((x_temp, y_temp))
cv2.setMouseCallback("face_tracker", mouse_drawing)

RicoJia

    import pybullet as p
    
    def apply_external_force(self, force, link_index, position=[0,0,0]):
    """
    Apply the specified external force on the specified position on the body / link.
    Args:
        link_index (int): unique link id. If -1, it will be the base.
        force (np.array[float[3]]): external force to be applied.
        position (np.array[float[3]], None): position on the link where the force is applied. See `flags` for

RicoJia

    import pybullet as p
    #This is essential, as this disables the default motor imposed by bullet. These default motors prevent overspeeding, and functions as
    #friction drives.
    p.setJointMotorControl2(self.model_unique_id, self.secondary_joint_id,
                              controlMode=p.VELOCITY_CONTROL, force=0)
    spring_angle = self.get_joint_angle()
    torque = spring_angle * self.torque_k

    #apply external force