properly stop the app

hand_tracker_v2/main.py

@@ -44,7 +44,7 @@ class HandTrackerV2(ReachyMiniApp):
         elif self.hand_pos is not None:
             self.hand_pos *= 0.9  # Slowly go back to center
 
-    def track(self, reachy_mini: ReachyMini):
+    def track(self, reachy_mini: ReachyMini, stop_event: threading.Event):
         target = np.array([0, 0])
         pitch_kp = 0.03
         yaw_kp = 0.08
@@ -55,8 +55,9 @@ class HandTrackerV2(ReachyMiniApp):
         head_pose = np.eye(4)
         euler_rot = np.array([0.0, 0.0, 0.0])
 
-        while True:
+        while not stop_event.is_set():
             if self.hand_pos is None:
+                time.sleep(dt)
                 continue
             error = target - self.hand_pos
             error = np.clip(
@@ -74,9 +75,7 @@ class HandTrackerV2(ReachyMiniApp):
                 "xyz", euler_rot, degrees=False
             ).as_matrix()
 
-            head_pose[:3, 3][2] = (
-                error[1] * kz
-            )  # Adjust height based on vertical error
+            head_pose[:3, 3][2] = error[1] * kz  # Adjust height based on vertical error
 
             reachy_mini.set_target(head=head_pose)
 
@@ -86,7 +85,7 @@ class HandTrackerV2(ReachyMiniApp):
         reachy_mini.goto_target(np.eye(4), [0.0, 0.0], body_yaw=0.0, duration=1.0)
 
         tracking_thread = threading.Thread(
-            target=self.track, args=(reachy_mini,), daemon=True
+            target=self.track, args=(reachy_mini, stop_event)
         )
         tracking_thread.start()
 
@@ -104,6 +103,12 @@ class HandTrackerV2(ReachyMiniApp):
                 self.draw(im)
             # time.sleep(0.02)
 
+        if DEBUG:
+            try:
+                cv2.destroyAllWindows()
+            except Exception:
+                pass
+
         tracking_thread.join()