{"action":"created","issue":{"url":"https://api.github.com/repos/piotti/robot-control/issues/7","repository_url":"https://api.github.com/repos/piotti/robot-control","labels_url":"https://api.github.com/repos/piotti/robot-control/issues/7/labels{/name}","comments_url":"https://api.github.com/repos/piotti/robot-control/issues/7/comments","events_url":"https://api.github.com/repos/piotti/robot-control/issues/7/events","html_url":"https://github.com/piotti/robot-control/issues/7","id":336824841,"node_id":"MDU6SXNzdWUzMzY4MjQ4NDE=","number":7,"title":"Pump Disconnection not working","user":{"login":"Dathomas207","id":5615566,"node_id":"MDQ6VXNlcjU2MTU1NjY=","avatar_url":"https://avatars3.githubusercontent.com/u/5615566?v=4","gravatar_id":"","url":"https://api.github.com/users/Dathomas207","html_url":"https://github.com/Dathomas207","followers_url":"https://api.github.com/users/Dathomas207/followers","following_url":"https://api.github.com/users/Dathomas207/following{/other_user}","gists_url":"https://api.github.com/users/Dathomas207/gists{/gist_id}","starred_url":"https://api.github.com/users/Dathomas207/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Dathomas207/subscriptions","organizations_url":"https://api.github.com/users/Dathomas207/orgs","repos_url":"https://api.github.com/users/Dathomas207/repos","events_url":"https://api.github.com/users/Dathomas207/events{/privacy}","received_events_url":"https://api.github.com/users/Dathomas207/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":3,"created_at":"2018-06-29T00:36:59Z","updated_at":"2018-06-29T01:41:00Z","closed_at":null,"author_association":"COLLABORATOR","body":"earching for a path...\r\n\r\nAcquiring pipe fitting...\r\nException in thread Thread-17:\r\nTraceback (most recent call last):\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\threading.py\", line 801, in __bootstrap_inner\r\n\r\n    self.run()\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\threading.py\", line 754, in run\r\n    self.__target(*self.__args, **self.__kwargs)\r\n  File \"C:\\Users\\ROB\\Desktop\\robot-control\\controller.py\", line 144, in move_pip\r\ne_thread\r\n    result = robot_use.movePipe(nearNum, farNum, direction)\r\n  File \"C:\\Users\\ROB\\Dropbox\\Robotic_Toolbox\\Robot\\UR3\\robot_use.py\", line 416,\r\nin movePipe\r\n    rob = UR3(config[\"IP\"],config[\"wallPoints\"])\r\n  File \"C:\\Users\\ROB\\Dropbox\\Robotic_Toolbox\\Robot\\UR3\\robot_move.py\", line 14,\r\nin __init__\r\n    urx.Robot.__init__(self, IP)\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\robot.py\", line 27, in __in\r\nit__\r\n    URRobot.__init__(self, host, use_rt)\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\urrobot.py\", line 38, in __\r\ninit__\r\n    self.secmon = ursecmon.SecondaryMonitor(self.host)  # data from robot at 10H\r\nz\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\ursecmon.py\", line 252, in\r\n__init__\r\n    self.wait()  # make sure we got some data before someone calls us\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\ursecmon.py\", line 344, in\r\nwait\r\n    raise TimeoutException(\"Did not receive a valid data packet from robot in {}\r\n\".format(timeout))\r\nTimeoutException: Did not receive a valid data packet from robot in 0.5\r\nException in thread Thread-24:\r\nTraceback (most recent call last):\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\threading.py\", line 801, in __bootstrap_inner\r\n\r\n    self.run()\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\ursecmon.py\", line 286, in\r\nrun\r\n    data = self._get_data()\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\ursecmon.py\", line 333, in\r\n_get_data\r\n    tmp = self._s_secondary.recv(1024)\r\ntimeout: timed out\r\n\r\n\r\nException in thread Thread-18:\r\nTraceback (most recent call last):\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\threading.py\", line 801, in __bootstrap_inner\r\n\r\n    self.run()\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\threading.py\", line 754, in run\r\n    self.__target(*self.__args, **self.__kwargs)\r\n  File \"C:\\Users\\ROB\\Desktop\\robot-control\\controller.py\", line 137, in move_rea\r\nctor_thread\r\n    if robot_use.moveReactor(storeNum, bayNum, direction, reactorType):\r\n  File \"C:\\Users\\ROB\\Dropbox\\Robotic_Toolbox\\Robot\\UR3\\robot_use.py\", line 162,\r\nin moveReactor\r\n    rob = UR3(config[\"IP\"],config[\"wallPoints\"])\r\n  File \"C:\\Users\\ROB\\Dropbox\\Robotic_Toolbox\\Robot\\UR3\\robot_move.py\", line 14,\r\nin __init__\r\n    urx.Robot.__init__(self, IP)\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\robot.py\", line 27, in __in\r\nit__\r\n    URRobot.__init__(self, host, use_rt)\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\urrobot.py\", line 38, in __\r\ninit__\r\n    self.secmon = ursecmon.SecondaryMonitor(self.host)  # data from robot at 10H\r\nz\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\ursecmon.py\", line 252, in\r\n__init__\r\n    self.wait()  # make sure we got some data before someone calls us\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\ursecmon.py\", line 344, in\r\nwait\r\n    raise TimeoutException(\"Did not receive a valid data packet from robot in {}\r\n\".format(timeout))\r\nTimeoutException: Did not receive a valid data packet from robot in 0.5\r\n\r\nSearching for a path...\r\n\r\nAcquiring pipe fitting...\r\n\r\nAcquiring pipe fitting...\r\nFound path to joint angles: (-2.0596957866386543, 3.7985276149482314, 4.01965023\r\n40076128, -4.6716498667767787, 1.5428240456877051, 3.1289326662341281)\r\n\r\nAcquiring pipe fitting...\r\nMoving...\r\n\r\nAcquiring pipe fitting...\r\nSearching for a path...\r\nSearching for a path...\r\nSearching for a path...\r\nSearching for a path...\r\nFound path to joint angles: (-2.0596957866386543, 3.869512335283086, 4.000440360\r\n090197, -4.723424713194218, 1.5428240456877051, 3.1289326662341281)\r\nMoving...\r\nFound path to joint angles: (-2.0596957866386543, 3.9414843598841429, 3.98540373\r\n51978588, -4.7803601129029367, 1.5428240456877051, 3.1289326662341281)Found path\r\n to joint angles: (-2.0596957866386543, 4.0139631015126449, 3.9747041402856915,\r\n-4.8421392596192714, 1.5428240456877051, 3.1289326662341281)T\r\nraceback (most recent call last):\r\n\r\n  File \"C:\\Users\\ROB\\Dropbox\\Robotic_Toolbox\\Robot\\UR3\\robot_move.py\", line 125,\r\n in moveTo\r\n    pose = self.movexs(\"movej\", points, acc= acc, vel = vel,radius = radius)\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\robot.py\", line 194, in mov\r\nexs\r\n    return URRobot.movexs(self, command, new_poses, acc, vel, radius, wait=wait,\r\n threshold=threshold)\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\urrobot.py\", line 369, in m\r\novexs\r\n    self._wait_for_move(target=pose_list[-1], threshold=threshold)\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\urrobot.py\", line 218, in _\r\nwait_for_move\r\n    dist = self._get_dist(target, joints)\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\urrobot.py\", line 234, in _\r\nget_dist\r\n    return self._get_lin_dist(target)\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\robot.py\", line 31, in _get\r\n_lin_dist\r\n    pose = URRobot.getl(self, wait=True)\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\urrobot.py\", line 323, in g\r\netl\r\n    pose = self.secmon.get_cartesian_info(wait)\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\ursecmon.py\", line 348, in\r\nget_cartesian_info\r\n    self.wait()\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\ursecmon.py\", line 344, in\r\nwait\r\n    raise TimeoutException(\"Did not receive a valid data packet from robot in {}\r\n\".format(timeout))\r\nTimeoutException: Did not receive a valid data packet from robot in 0.5\r\nMove Failed: Did not receive a valid data packet from robot in 0.5\r\nMove between near pipe 5 and far pipe 7 in direction 1 failed\r\nwrote!\r\nwrote!\r\nhandled exception in resume\r\nFound path to joint angles: (-2.0596957866386543, 4.0863647742569063, 3.96846653\r\n13054581, -4.9083033233832989, 1.5428240456877051, 3.1289326662341281)\r\nMoving...\r\nMoving...\r\nMoving...\r\nFound path to joint angles: (-2.0661848108516327, 4.4093625057552135, 4.00683625\r\n81227461, -5.258262427489667, 1.5503385799667262, 3.125864498288311)\r\nMoving...\r\nMove complete!\r\nMoving...\r\nTraceback (most recent call last):\r\nTraceback (most recent call last):\r\n  File \"C:\\Users\\ROB\\Dropbox\\Robotic_Toolbox\\Robot\\UR3\\robot_move.py\", line 139,\r\n in moveTo\r\n  File \"C:\\Users\\ROB\\Dropbox\\Robotic_Toolbox\\Robot\\UR3\\robot_move.py\", line 125,\r\n in moveTo\r\n    pose = np.array(self.movexs('movej', points[nearest_point:], acc=acc, vel =\r\nvel, radius = radius))\r\n    pose = self.movexs(\"movej\", points, acc= acc, vel = vel,radius = radius)\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\robot.py\", line 194, in mov\r\nexs\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\robot.py\", line 194, in mov\r\nexs\r\n    return URRobot.movexs(self, command, new_poses, acc, vel, radius, wait=wait,\r\n threshold=threshold)\r\n    return URRobot.movexs(self, command, new_poses, acc, vel, radius, wait=wait,\r\n threshold=threshold)\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\urrobot.py\", line 369, in m\r\novexs\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\urrobot.py\", line 369, in m\r\novexs\r\n    self._wait_for_move(target=pose_list[-1], threshold=threshold)\r\n    self._wait_for_move(target=pose_list[-1], threshold=threshold)\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\urrobot.py\", line 226, in _\r\nwait_for_move\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\urrobot.py\", line 226, in _\r\nwait_for_move\r\n    raise RobotException(\"Goal not reached but no program has been running for {\r\n} seconds. dist is {}, threshold is {}, target is {}, current pose is {}\".format\r\n(timeout, dist, threshold, target, URRobot.getl(self)))\r\nRobotException: Goal not reached but no program has been running for 6 seconds.\r\ndist is 0.0844736306888, threshold is 0.0838304624631, target is [-0.22649123 -0\r\n.18165951  0.18653493  1.53095813 -0.39446681 -0.4156515 ], current pose is [-0.\r\n2304628838618671, -0.187619521919467, 0.27006072777274337, 1.5239157001707444, -\r\n0.38629248848011466, -0.41701293872555134]\r\n M   raise RobotException(\"Goal not reached but no program has been running for\r\n{} seconds. dist is {}, threshold is {}, target is {}, current pose is {}\".forma\r\nt(timeout, dist, threshold, target, URRobot.getl(self)))\r\nove Failed: Goal not reached but no program has been running for 6 seconds. dist\r\n is 0.0844736306888, threshold is 0.0838304624631, target is [-0.22649123 -0.181\r\n65951  0.18653493  1.53095813 -0.39446681 -0.4156515 ], current pose is [-0.2304\r\n628838618671, -0.187619521919467, 0.27006072777274337, 1.5239157001707444, -0.38\r\n629248848011466, -0.41701293872555134]R\r\nobotException: Goal not reached but no program has been running for 6 seconds. d\r\nist is 0.0469382925341, threshold is 0.0410312171806, target is [-0.25514612 -0.\r\n22671322  0.27131066  1.52579543 -0.37786993 -0.41464328], current pose is [-0.2\r\n304628838618671, -0.187619521919467, 0.27006072777274337, 1.5239157001707444, -0\r\n.38629248848011466, -0.41701293872555134]\r\nMove Failed: Goal not reached but no program has been running for 6 seconds. dis\r\nt is 0.0469382925341, threshold is 0.0410312171806, target is [-0.25514612 -0.22\r\n671322  0.27131066  1.52579543 -0.37786993 -0.41464328], current pose is [-0.230\r\n4628838618671, -0.187619521919467, 0.27006072777274337, 1.5239157001707444, -0.3\r\n8629248848011466, -0.41701293872555134]\r\n Move between near pipe 4 and far pipe 6 in direction 1 failed\r\nMove between near pipe 4 and far pipe 1 in direction 1 failed\r\nwrote!\r\nhandled exception in resume\r\nwrote!\r\nhandled exception in resume\r\nTraceback (most recent call last):\r\n  File \"C:\\Users\\ROB\\Dropbox\\Robotic_Toolbox\\Robot\\UR3\\robot_move.py\", line 139,\r\n in moveTo\r\n    pose = np.array(self.movexs('movej', points[nearest_point:], acc=acc, vel =\r\nvel, radius = radius))\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\robot.py\", line 194, in mov\r\nexs\r\n    return URRobot.movexs(self, command, new_poses, acc, vel, radius, wait=wait,\r\n threshold=threshold)\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\urrobot.py\", line 369, in m\r\novexs\r\n    self._wait_for_move(target=pose_list[-1], threshold=threshold)\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\urrobot.py\", line 226, in _\r\nwait_for_move\r\n    raise RobotException(\"Goal not reached but no program has been running for {\r\n} seconds. dist is {}, threshold is {}, target is {}, current pose is {}\".format\r\n(timeout, dist, threshold, target, URRobot.getl(self)))\r\nRobotException: Goal not reached but no program has been running for 6 seconds.\r\ndist is 0.0456874977657, threshold is 0.0365463311187, target is [-0.22649123 -0\r\n.18165951  0.22613493  1.53095813 -0.39446681 -0.4156515 ], current pose is [-0.\r\n2304547391699346, -0.18762811584945968, 0.2700524219033022, 1.5239839052166078,\r\n-0.38626980063891136, -0.4170042202173633]\r\nMove Failed: Goal not reached but no program has been running for 6 seconds. dis\r\nt is 0.0456874977657, threshold is 0.0365463311187, target is [-0.22649123 -0.18\r\n165951  0.22613493  1.53095813 -0.39446681 -0.4156515 ], current pose is [-0.230\r\n4547391699346, -0.18762811584945968, 0.2700524219033022, 1.5239839052166078, -0.\r\n38626980063891136, -0.4170042202173633]\r\nTraceback (most recent call last):\r\n  File \"C:\\Users\\ROB\\Dropbox\\Robotic_Toolbox\\Robot\\UR3\\robot_move.py\", line 139,\r\n in moveTo\r\n    pose = np.array(self.movexs('movej', points[nearest_point:], acc=acc, vel =\r\nvel, radius = radius))\r\n M File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\robot.py\", line 194, in mo\r\nvexs\r\nove between near pipe 1 and far pipe 2 in direction 1 failed\r\n   return URRobot.movexs(self, command, new_poses, acc, vel, radius, wait=wait,\r\nthreshold=threshold)\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\urrobot.py\", line 369, in m\r\novexs\r\n    self._wait_for_move(target=pose_list[-1], threshold=threshold)\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\urrobot.py\", line 226, in _\r\nwait_for_move\r\n    raise RobotException(\"Goal not reached but no program has been running for {\r\n} seconds. dist is {}, threshold is {}, target is {}, current pose is {}\".format\r\n(timeout, dist, threshold, target, URRobot.getl(self)))\r\nRobotException: Goal not reached but no program has been running for 6 seconds.\r\ndist is 0.0714363424637, threshold is 0.0571503385852, target is [-0.22649123 -0\r\n.18165951  0.19973493  1.53095813 -0.39446681 -0.4156515 ], current pose is [-0.\r\n2304547391699346, -0.18762811584945968, 0.2700524219033022, 1.5239839052166078,\r\n-0.38626980063891136, -0.4170042202173633]\r\nMove Failed: Goal not reached but no program has been running for 6 seconds. dis\r\nt is 0.0714363424637, threshold is 0.0571503385852, target is [-0.22649123 -0.18\r\n165951  0.19973493  1.53095813 -0.39446681 -0.4156515 ], current pose is [-0.230\r\n4547391699346, -0.18762811584945968, 0.2700524219033022, 1.5239839052166078, -0.\r\n38626980063891136, -0.4170042202173633]\r\nMove between near pipe 3 and far pipe 5 in direction 1 failed\r\nTraceback (most recent call last):\r\n  File \"C:\\Users\\ROB\\Dropbox\\Robotic_Toolbox\\Robot\\UR3\\robot_move.py\", line 139,\r\n in moveTo\r\n    pose = np.array(self.movexs('movej', points[nearest_point:], acc=acc, vel =\r\nvel, radius = radius))\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\robot.py\", line 194, in mov\r\nexs\r\n    return URRobot.movexs(self, command, new_poses, acc, vel, radius, wait=wait,\r\n threshold=threshold)\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\urrobot.py\", line 369, in m\r\novexs\r\n    self._wait_for_move(target=pose_list[-1], threshold=threshold)\r\n  File \"C:\\Users\\ROB\\Anaconda2\\lib\\site-packages\\urx\\urrobot.py\", line 226, in _\r\nwait_for_move\r\n    raise RobotException(\"Goal not reached but no program has been running for {\r\n} seconds. dist is {}, threshold is {}, target is {}, current pose is {}\".format\r\n(timeout, dist, threshold, target, URRobot.getl(self)))\r\nRobotException: Goal not reached but no program has been running for 6 seconds.\r\ndist is 0.0584893942381, threshold is 0.0467908555096, target is [-0.22649123 -0\r\n.18165951  0.21293493  1.53095813 -0.39446681 -0.4156515 ], current pose is [-0.\r\n2304547391699346, -0.18762811584945968, 0.2700524219033022, 1.5239839052166078,\r\n-0.38626980063891136, -0.4170042202173633]\r\nMove Failed: Goal not reached but no program has been running for 6 seconds. dis\r\nt is 0.0584893942381, threshold is 0.0467908555096, target is [-0.22649123 -0.18\r\n165951  0.21293493  1.53095813 -0.39446681 -0.4156515 ], current pose is [-0.230\r\n4547391699346, -0.18762811584945968, 0.2700524219033022, 1.5239839052166078, -0.\r\n38626980063891136, -0.4170042202173633]\r\nMove between near pipe 2 and far pipe 3 in direction 1 failed\r\nwrote!\r\nhandled exception in resume\r\nwrote!\r\nhandled exception in resume\r\nwrote!\r\nhandled exception in resume"},"comment":{"url":"https://api.github.com/repos/piotti/robot-control/issues/comments/401222328","html_url":"https://github.com/piotti/robot-control/issues/7#issuecomment-401222328","issue_url":"https://api.github.com/repos/piotti/robot-control/issues/7","id":401222328,"node_id":"MDEyOklzc3VlQ29tbWVudDQwMTIyMjMyOA==","user":{"login":"Dathomas207","id":5615566,"node_id":"MDQ6VXNlcjU2MTU1NjY=","avatar_url":"https://avatars3.githubusercontent.com/u/5615566?v=4","gravatar_id":"","url":"https://api.github.com/users/Dathomas207","html_url":"https://github.com/Dathomas207","followers_url":"https://api.github.com/users/Dathomas207/followers","following_url":"https://api.github.com/users/Dathomas207/following{/other_user}","gists_url":"https://api.github.com/users/Dathomas207/gists{/gist_id}","starred_url":"https://api.github.com/users/Dathomas207/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Dathomas207/subscriptions","organizations_url":"https://api.github.com/users/Dathomas207/orgs","repos_url":"https://api.github.com/users/Dathomas207/repos","events_url":"https://api.github.com/users/Dathomas207/events{/privacy}","received_events_url":"https://api.github.com/users/Dathomas207/received_events","type":"User","site_admin":false},"created_at":"2018-06-29T01:41:00Z","updated_at":"2018-06-29T01:41:00Z","author_association":"COLLABORATOR","body":"The commands work when call individually. "}}
{"actor":{"display_login":"Dathomas207"}}