100 lines
6.3 KiB
Plaintext
100 lines
6.3 KiB
Plaintext
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{
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"metadata": {
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"name": "",
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"signature": "sha256:25f974945afc9b1b27aaa5b6052b2450ccd9a439db8fbffa8906951404958c87"
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},
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"nbformat": 3,
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"nbformat_minor": 0,
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"worksheets": [
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{
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"cells": [
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{
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"cell_type": "code",
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"collapsed": false,
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"input": [
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"from pypot.dynamixel import autodetect_robot\n",
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"\n",
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"robot = autodetect_robot()\n",
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"robot.start_sync()"
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],
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"language": "python",
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"metadata": {},
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"outputs": [],
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"prompt_number": 1
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},
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{
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"cell_type": "code",
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"collapsed": false,
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"input": [
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"from pypot.primitive.utils import Sinus\n",
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"\n",
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"my_sinus = Sinus(robot, 50, robot.motors, amp=10)\n",
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"robot.attach_primitive(my_sinus, 'my_sinus')"
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],
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"language": "python",
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"metadata": {},
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"outputs": [],
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"prompt_number": 2
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},
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{
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"cell_type": "code",
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"collapsed": false,
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"input": [
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"from pypot.server.rest import RESTRobot\n",
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"\n",
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"robot_server = RESTRobot(robot)"
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],
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"language": "python",
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"metadata": {},
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"outputs": [],
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"prompt_number": 3
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},
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{
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"cell_type": "code",
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"collapsed": false,
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"input": [
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"import zerorpc\n",
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"\n",
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"s = zerorpc.Server(robot_server)\n",
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"s.bind(\"tcp://0.0.0.0:4242\")\n",
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"s.run()"
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],
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"language": "python",
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"metadata": {},
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"outputs": [
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{
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"output_type": "stream",
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"stream": "stderr",
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"text": [
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"KeyboardInterrupt\n"
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]
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},
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{
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"ename": "KeyboardInterrupt",
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"evalue": "",
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"output_type": "pyerr",
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"traceback": [
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"\u001b[0;31m---------------------------------------------------------------------------\u001b[0m\n\u001b[0;31mKeyboardInterrupt\u001b[0m Traceback (most recent call last)",
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"\u001b[0;32m<ipython-input-4-4909183bd992>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m()\u001b[0m\n\u001b[1;32m 3\u001b[0m \u001b[0ms\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mzerorpc\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mServer\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mrobot_server\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 4\u001b[0m \u001b[0ms\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mbind\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m\"tcp://0.0.0.0:4242\"\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m----> 5\u001b[0;31m \u001b[0ms\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mrun\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m",
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"\u001b[0;32m/usr/local/lib/python2.7/site-packages/zerorpc/core.pyc\u001b[0m in \u001b[0;36mrun\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m 169\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_acceptor_task\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mgevent\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mspawn\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_acceptor\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 170\u001b[0m \u001b[0;32mtry\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 171\u001b[0;31m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_acceptor_task\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mget\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 172\u001b[0m \u001b[0;32mfinally\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 173\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mstop\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
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"\u001b[0;32m/usr/local/lib/python2.7/site-packages/gevent/greenlet.pyc\u001b[0m in \u001b[0;36mget\u001b[0;34m(self, block, timeout)\u001b[0m\n\u001b[1;32m 256\u001b[0m \u001b[0mt\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mTimeout\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mstart_new\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mtimeout\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 257\u001b[0m \u001b[0;32mtry\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 258\u001b[0;31m \u001b[0mresult\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mparent\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mswitch\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 259\u001b[0m \u001b[0;32massert\u001b[0m \u001b[0mresult\u001b[0m \u001b[0;32mis\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m'Invalid switch into Greenlet.get(): %r'\u001b[0m \u001b[0;34m%\u001b[0m \u001b[0;34m(\u001b[0m\u001b[0mresult\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 260\u001b[0m \u001b[0;32mfinally\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
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"\u001b[0;32m/usr/local/lib/python2.7/site-packages/gevent/hub.pyc\u001b[0m in \u001b[0;36mswitch\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m 329\u001b[0m \u001b[0;32mif\u001b[0m \u001b[0mswitch_out\u001b[0m \u001b[0;32mis\u001b[0m \u001b[0;32mnot\u001b[0m \u001b[0mNone\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 330\u001b[0m \u001b[0mswitch_out\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 331\u001b[0;31m \u001b[0;32mreturn\u001b[0m \u001b[0mgreenlet\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mswitch\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 332\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 333\u001b[0m \u001b[0;32mdef\u001b[0m \u001b[0mswitch_out\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
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"\u001b[0;31mKeyboardInterrupt\u001b[0m: "
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]
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}
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],
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"prompt_number": 4
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},
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{
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"cell_type": "code",
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"collapsed": false,
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"input": [],
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"language": "python",
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"metadata": {},
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"outputs": []
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}
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],
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"metadata": {}
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}
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]
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}
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