Getting error when using the resounce module #31

Hi Kris,

Here is my testing code for both a SE3Trajectory and a RobotTrajectory. I am able to run and see the resource UI and modify the trajectory, but when I try to close the UI, or save/load a trajectory, I am getting errors, and the error messages are different for the 2 types of trajectories.

Code:

from klampt.model.trajectory import SE3Trajectory,RobotTrajectory
from klampt.io import resource
from klampt.math import se3
from klampt import WorldModel,vis

world_path = '../TRINA/Motion/data/TRINA_world_bubonic.xml'
world = WorldModel()
res = world.readFile(world_path)
robot = world.robot(0)

traj = SE3Trajectory([0,1],[se3.identity(),se3.identity()])
saved,result = resource.edit("se3 traj",traj,'SE3Trajectory','Some spatial trajectory',world=world,referenceObject=robot.link(20))

config0 = robot.getConfig()
config1 = robot.getConfig()
config1[15] += 1
traj = RobotTrajectory(robot = robot, times = [0,1],milestones=[config0,config1])
saved,result = resource.edit("robot traj",traj,'Trajectory','Some robot trajectory',world=world,referenceObject=robot)

Close the UI when testing SE3Trajectory:

######## QGLWidget setProgram ###############
Exception in thread Thread-1:
Traceback (most recent call last):
  File "/usr/lib/python3.7/threading.py", line 926, in _bootstrap_inner
    self.run()
  File "/usr/lib/python3.7/threading.py", line 870, in run
    self._target(*self._args, **self._kwargs)
  File "/usr/local/lib/python3.7/dist-packages/Klampt-0.8.3-py3.7-linux-x86_64.egg/klampt/vis/backends/vis_qt.py", line 170, in run_app_thread
    w.glwindow.setProgram(w.frontend)
  File "/usr/local/lib/python3.7/dist-packages/Klampt-0.8.3-py3.7-linux-x86_64.egg/klampt/vis/backends/qtbackend.py", line 137, in setProgram
    self.setWindowTitle(program.name)
RuntimeError: wrapped C/C++ object of type QtGLWindow has been deleted

Segmentation fault (core dumped)

load/save with SE3Trajectory:

######### QGLWidget Initialize GL ###############
QtGLWidget.initialize: no action menu?
Traceback (most recent call last):
  File "/usr/local/lib/python3.7/dist-packages/Klampt-0.8.3-py3.7-linux-x86_64.egg/klampt/vis/editors.py", line 1283, in save
    resource.save(self.editorObject.value,'auto','.')
  File "/usr/local/lib/python3.7/dist-packages/Klampt-0.8.3-py3.7-linux-x86_64.egg/klampt/io/resource.py", line 364, in save
    extensions=[v for v in loader.typeToExtensions[type]]
KeyError: 'SE3Trajectory'
Aborted (core dumped)

Close the UI when testing RobotTrajectory:

(python3:3602): GLib-CRITICAL **: g_main_context_pop_thread_default: assertion 'stack != NULL' failed
QObject::killTimer: Timers cannot be stopped from another thread
QObject::~QObject: Timers cannot be stopped from another thread
QtDBus: cannot relay signals from parent QObject(0x7f42c8778390 "") unless they are emitted in the object's thread QThread(0x7f42c80012b0 ""). Current thread is QThread(0x2afeb00 "").
QtDBus: cannot relay signals from parent QObject(0x7f42c86c3650 "") unless they are emitted in the object's thread QThread(0x7f42c80012b0 ""). Current thread is QThread(0x2afeb00 "").
[xcb] Unknown sequence number while appending request
[xcb] Most likely this is a multi-threaded client and XInitThreads has not been called
[xcb] Aborting, sorry about that.
python3: ../../src/xcb_io.c:161: append_pending_request: Assertion `!xcb_xlib_unknown_seq_number' failed.
Aborted (core dumped)

load/save with RobotTrajectory:

#########################################
klampt.vis: Creating dialog on window 2
#########################################
vis: Creating a dialog from within another dialog or window
vis: creating GL window
Traceback (most recent call last):
  File "/usr/local/lib/python3.7/dist-packages/Klampt-0.8.3-py3.7-linux-x86_64.egg/klampt/vis/editors.py", line 1283, in save
    resource.save(self.editorObject.value,'auto','.')
  File "/usr/local/lib/python3.7/dist-packages/Klampt-0.8.3-py3.7-linux-x86_64.egg/klampt/io/resource.py", line 380, in save
    vis.dialog()
  File "/usr/local/lib/python3.7/dist-packages/Klampt-0.8.3-py3.7-linux-x86_64.egg/klampt/vis/visualization.py", line 864, in dialog
    return _window_manager.dialog()
  File "/usr/local/lib/python3.7/dist-packages/Klampt-0.8.3-py3.7-linux-x86_64.egg/klampt/vis/backends/vis_qt.py", line 325, in dialog
    w.glwindow = _GLBackend.createWindow(w.name)
NameError: name '_GLBackend' is not defined
Aborted (core dumped)

Do you know what might be wrong?

Best,
Yifan Zhu