Kind folks.
creating a simple interface for the recording function for the ergo robot, I’m running into this when playing back the moves:
Jean-michels-MacBook-Pro:ergo jmm$ python interface_compliant.py
Exception in thread Thread-10:
Traceback (most recent call last):
File "/usr/local/Cellar/python/2.7.9/Frameworks/Python.framework/Versions/2.7/lib/python2.7/threading.py", line 810, in __bootstrap_inner
self.run()
File "/usr/local/Cellar/python/2.7.9/Frameworks/Python.framework/Versions/2.7/lib/python2.7/threading.py", line 763, in run
self.__target(*self.__args, **self.__kwargs)
File "/usr/local/lib/python2.7/site-packages/pypot/utils/stoppablethread.py", line 119, in _wrapped_target
self._target()
File "/usr/local/lib/python2.7/site-packages/pypot/primitive/primitive.py", line 75, in _prim_run
self.run()
File "/usr/local/lib/python2.7/site-packages/pypot/primitive/primitive.py", line 163, in run
make_update_loop(self, self._wrapped_update)
File "/usr/local/lib/python2.7/site-packages/pypot/utils/stoppablethread.py", line 152, in make_update_loop
update_func()
File "/usr/local/lib/python2.7/site-packages/pypot/primitive/primitive.py", line 168, in _wrapped_update
self.update()
File "/usr/local/lib/python2.7/site-packages/pypot/primitive/move.py", line 113, in update
self.stop()
File "/usr/local/lib/python2.7/site-packages/pypot/primitive/primitive.py", line 125, in stop
StoppableThread.stop(self, wait)
File "/usr/local/lib/python2.7/site-packages/pypot/utils/stoppablethread.py", line 56, in stop
self._thread.join()
File "/usr/local/Cellar/python/2.7.9/Frameworks/Python.framework/Versions/2.7/lib/python2.7/threading.py", line 940, in join
raise RuntimeError("cannot join current thread")
RuntimeError: cannot join current threadit does play back, but when arriving at the end, I invariably get the RuntimeError.
Any thoughts?
my script:
import Tkinter as tk
import time
import pdb
from poppy.creatures import PoppyErgo
ergo = PoppyErgo()
from pypot.primitive.move import Move, MoveRecorder, MovePlayer
record_frequency = 100.0
recorded_motors = [ergo.m1, ergo.m2, ergo.m3, ergo.m4, ergo.m5, ergo.m6]
recorder = MoveRecorder(ergo, record_frequency, recorded_motors)
root = tk.Tk()
root.title("Ergo, recording fun")
def tapeit():
for m in recorded_motors:
m.compliant = True
recorder.start()
time.sleep(10)
recorder.stop()
toggle_text()
for m in recorded_motors:
m.compliant = False
recorded_move = recorder.move
with open('mymove.json', 'w') as f:
recorded_move.save(f)
def playit():
with open('mymove.json') as f:
loaded_move = Move.load(f)
player = MovePlayer(ergo, loaded_move)
player.start()
def toggle_text():
if button["text"] == "Record":
button["text"] = "Recording..."
tapeit()
else:
# reset to Hi
button["text"] = "Record"
button = tk.Button(text="Record", width=12, command=toggle_text)
button2 = tk.Button(text="play", width=12, command=playit)
button.pack(padx=100, pady=10)
button2.pack(padx=120, pady=10)
root.mainloop()