text:
Memory leaks in subscriptions to queryModel?

Every component that subscribes to the queryModel.update subject does so in a onChanges trigger. Is this not overkill? Would it not be sufficient to subscribe once in the constructor? I believe then we wouldn't even need change detection on the input anymore -- in fact, why listen for updates on the @Input and the queryModel.update Subject both?
What is more, I don't see any unsubscribe() methods in onDestroy. Does this not entail that we will subscribe multiple times and never unsubscribe?
@lukavdplas , perhaps there are parts of the implementation that take care of this, in which case it would be nice to document this somewhere.

Regarding onChanges: I did initially use onInit (the constructor is called before receiving inputs), but this would only work if you were sure that the queryModel never going to be re-instantiated. This does happen, when navigation is triggered by the browser (e.g. with back/forward). So OnChanges is appropriate. I'm all for documenting this, though I'm not sure where.
You are right about the leakiness, that should be addressed: a lot of these subscriptions are not properly closed when the component is destroyed.
There is also a potential leakiness when the query model is re-instantiated (if the component is still subscribed to the old query model). The "old" query model is always discarded, so this is unlike to cause issues, but it is sloppy. I think  the neat way to handle this would be to complete observables on the old query model before making a new one.
As an aside, I would like to get away from all these subscribe calls: most components could just work with a piped observable instead.

For now, we could just create a subscription member on a component which describes to the query model, and in the onChanges call do
this.subscription.unsubscribe()
this.subscription = this.queryModel.onNext.subscribe()

and be sure to add a onDestroy method with this.subscription.unsubscribe().

Still, I'm not quite clear why we the @Input when we get updates on the query model via the observable?

For now, we could just create a subscription member on a component which describes to the query model, and in the onChanges call do
this.subscription.unsubscribe()
this.subscription = this.queryModel.onNext.subscribe()

I would prefer a setup like this one that uses takeUntil instead of  calling unsubscribe.
https://github.com/UUDigitalHumanitieslab/brede-welvaarts-indicator/blob/develop/frontend/src/app/model/model.component.ts

Still, I'm not quite clear why we need the @Input when we get updates on the query model via the observable?

I'm not convinced that the current setup is ideal, but the technical reason is that a QueryModel object has an observable member that indicates meaningful state changes (update), but it is also possible that you get a new instance of QueryModel. But it would be cleaner to use only one of those (either a singleton model with state changes or an immutable model that is re-instantiated).

To summarise: an issue right now is that components need to listen to both new instances of the queryModel, and state changes on the current queryModel instance. It would be nice if we knew that the same instance will be used throughout the component's lifecycle.
#1406 moves towards a solution for this, but it doesn't yet remove the ngOnChanges calls. In more detail:
Before this PR, the QueryModel didn't respond to updates from the route that it didn't trigger (usually back/forward navigation in the browser). There was a check that if the model was out of date, a new instance was created from the router state.
As of #1406, reacting to route changes works perfectly, so no re-instancing is required.... unless the corpus changes. In that case, we still construct a new QueryModel instance based on the new corpus.
This is tricky: at the moment, we don't have an option to switch corpora while querying, but we used to, and who knows, perhaps one day we want that back. It may  also be possible to trigger that change if you're switching between browser bookmarks or such, where the user navigates directly between the search pages of different corpora.
So this is kind of an edge case and accomodating corpus changes on the QueryModel is a headache because the selected search fields and filters depend on it. I'll ruminate some more on this.

I think the specific point of leakiness is now resolved. The only subscription to QueryModel.update (outside of a few unit tests) I could find is this one:
https://github.com/UUDigitalHumanitieslab/I-analyzer/blob/963744a6723e5e2e268dcbdeda3ad6170ff801d9/frontend/src/app/filter/base-filter.component.ts#L28-L49
Which includes an unsubscribe().
The re-instancing on corpus changes still happens and accounting for it isn't great, but as I mentioned, it's an edge case, and the code works, so I don't see a reason to change it right now.

authors: BeritJanssen lukavdplas

repo: UUDigitalHumanitieslab/I-analyzer


text:
Support for terminating commands in SPI BFM and VVC for slave side

Added terminate_loop input signal in bitvis_vip_spi's BFM slave side procedures
Wait clauses wait for terminate_loop signal to activate, too
Connected the terminate_current_cmd flag in the VVC to slave BFM commands

Hi,
We need to ensure that this PR is backwards compatible, i.e. there has to be overloads with the terminate_access signal in addition to the original BFM procedure signature.
Br,
Marius

Create overloading procedures, without the terminate_access formal, which calls the new procedure with terminate_access set to '0'. Will have to be done for all changed procedures.
E.g.
procedure spi_slave_receive(
    variable rx_data                : out std_logic_vector;
    constant msg                    : in string;
    signal   spi_if                 : inout t_spi_if;
    signal   terminate_access       : in std_logic;
    constant when_to_start_transfer : in t_when_to_start_transfer := START_TRANSFER_ON_NEXT_SS;
    constant scope                  : in string                   := C_SCOPE;
    constant msg_id_panel           : in t_msg_id_panel           := shared_msg_id_panel;
    constant config                 : in t_spi_bfm_config         := C_SPI_BFM_CONFIG_DEFAULT
  ) is begin

.... code for spi_slave_receive

end procedure spi_slave_receive;

-- overloading procedure
procedure spi_slave_receive(
  variable rx_data                : out std_logic_vector;
  constant msg                    : in string;
  signal   spi_if                 : inout t_spi_if;
  constant when_to_start_transfer : in t_when_to_start_transfer := START_TRANSFER_ON_NEXT_SS;
  constant scope                  : in string                   := C_SCOPE;
  constant msg_id_panel           : in t_msg_id_panel           := shared_msg_id_panel;
  constant config                 : in t_spi_bfm_config         := C_SPI_BFM_CONFIG_DEFAULT
) is begin

  -- calling overloaded procedure
  procedure spi_slave_receive(
    rx_data <= rx_data,
    msg <= msg,
    spi_if <= spi_if,
    terminate_access <= '0',
    when_to_start_transfer <= when_to_start_transfer,
    scope <= scope,
    msg_id_panel <= msg_id_panel,
    config <= config
  );

end  procedure spi_slave_receive;

Ok, that's what I was "afraid" of.
I'll do the changes.

I've modified the bfm package with the overloads that don't have terminate_access parameter

source: gharchive/pull-request

authors: UVVM am9417 mariuselv

repo: UVVM/UVVM

license_type: permissive

license_source: github-api


text:
Adjust spacing of widget input-groups to better utilize limited space

This PR works in tandem with angularportal-js PR #514.

Coverage remained the same at 33.499% when pulling 552fcc94a657959adc000e14fb769d31bc1e4472 on thevoiceofzeke:widgets into 11940dc20263b9c818ddbe3153ee2b07b39d20d0 on UW-Madison-DoIT:master.

Coverage remained the same at 33.499% when pulling 6f11ea66496f2fc9761475fa25fc9448f2b5565f on thevoiceofzeke:widgets into 11940dc20263b9c818ddbe3153ee2b07b39d20d0 on UW-Madison-DoIT:master.

Coverage remained the same at 33.499% when pulling e49130012e6c34e44ef7a2ce713fd6ae147d47fd on thevoiceofzeke:widgets into 11940dc20263b9c818ddbe3153ee2b07b39d20d0 on UW-Madison-DoIT:master.

Coverage remained the same at 33.499% when pulling 5e7ac794390ad3fb2884c424375e0691ff74957e on thevoiceofzeke:widgets into 11940dc20263b9c818ddbe3153ee2b07b39d20d0 on UW-Madison-DoIT:master.

authors: coveralls thevoiceofzeke

repo: UW-Madison-DoIT/uw-frame

license_source: bigquery


text:
🛑 Wiki is down

In 24b5a73, Wiki (https://online.huskysatellitelab.com/wiki) was down:

HTTP code: 0
Response time: 0 ms

Resolved: Wiki is back up in bab4f98.

source: gharchive/issue

repo: UWCubeSat/selfhosted-upptime

license: MIT


text:
Remove '<,>' from the help menu

What are you trying to accomplish?
Remove '<,>' from the help menu because most of the students seem to be confused by them and include them in the commands
How are you accomplishing it?
Update text
Is there anything reviewers should know?
No

[x] Is it safe to rollback this change if anything goes wrong?

@prairir @amanpatel123

yeah i think this is a fair thing. people are so dumb because its litterally in the message about not including it.

authors: HarshdipD prairir

repo: UWindsorCSS/uwindsor-discord-bot


text:
报错：应用程序的组件中，发生了未经处理的异常---未将对象引用设置到对象的实例

简单描述
报错发生在自定义添加单词功能

win10系统下，当初用过2.2版本，在默认自定义excel文件中添加单词后，弹出的还是默认4级词汇，没有反应，后续就没再使用
最近升级到了win11系统，重新下载3.0版本，在默认excel文件中添加单词后，主要表现问题如下

最开始添加了十来个单词没有问题，后续继续添加单词，报错（后面有详细信息和贴图；
尝试自己排除问题，比如将添加的内容里面的符号替换为空格，删除中文标点，将程序放到非中文根目录，管理员模式启动，删除组合单词，最后删除空格，删除单元格比较长的单词或者字符，均无效；
将之前备份的自定义模板.xlsx文件重新拷贝回默认目录，点击添加，软件才能恢复正常；
此时，再次尝试添加单词，会正常弹窗，但是弹窗内容中，没有自己添加的单词；

系统版本
win11
软件版本
3.0
报错信息

未将对象引用设置到对象的实例

点开报错详细信息显示如下

有关调用实时(JIT)调试而不是此对话框的详细信息，
请参见此消息的结尾。

************** 异常文本 **************
System.NullReferenceException: 未将对象引用设置到对象的实例。
   在 ToastFish.Model.Log.CreateLog.ImportExcel(String path) 位置 D:\Project\ToastFish\Model\Log\CreateLog.cs:行号 188
   在 ToastFish.MainWindow.ImportWords_Click(Object sender, EventArgs e) 位置 D:\Project\ToastFish\View\ToastFish.xaml.cs:行号 412
   在 System.Windows.Forms.ToolStripItem.RaiseEvent(Object key, EventArgs e)
   在 System.Windows.Forms.ToolStripMenuItem.OnClick(EventArgs e)
   在 System.Windows.Forms.ToolStripItem.HandleClick(EventArgs e)
   在 System.Windows.Forms.ToolStripItem.HandleMouseUp(MouseEventArgs e)
   在 System.Windows.Forms.ToolStripItem.FireEventInteractive(EventArgs e, ToolStripItemEventType met)
   在 System.Windows.Forms.ToolStripItem.FireEvent(EventArgs e, ToolStripItemEventType met)
   在 System.Windows.Forms.ToolStrip.OnMouseUp(MouseEventArgs mea)
   在 System.Windows.Forms.ToolStripDropDown.OnMouseUp(MouseEventArgs mea)
   在 System.Windows.Forms.Control.WmMouseUp(Message& m, MouseButtons button, Int32 clicks)
   在 System.Windows.Forms.Control.WndProc(Message& m)
   在 System.Windows.Forms.ScrollableControl.WndProc(Message& m)
   在 System.Windows.Forms.ToolStrip.WndProc(Message& m)
   在 System.Windows.Forms.ToolStripDropDown.WndProc(Message& m)
   在 System.Windows.Forms.Control.ControlNativeWindow.OnMessage(Message& m)
   在 System.Windows.Forms.Control.ControlNativeWindow.WndProc(Message& m)
   在 System.Windows.Forms.NativeWindow.Callback(IntPtr hWnd, Int32 msg, IntPtr wparam, IntPtr lparam)

************** 已加载的程序集 **************
mscorlib
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----------------------------------------
ToastFish
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----------------------------------------
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----------------------------------------
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----------------------------------------
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----------------------------------------
System.Xml
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GalaSoft.MvvmLight
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----------------------------------------
System.Runtime
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----------------------------------------
System.ObjectModel
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----------------------------------------
System.Windows.Forms
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----------------------------------------
System.Drawing
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----------------------------------------
GalaSoft.MvvmLight.Platform
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----------------------------------------
System.Reflection.Extensions
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----------------------------------------
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----------------------------------------
System.Data.SQLite
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----------------------------------------
System.Data
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----------------------------------------
System.Transactions
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----------------------------------------
System.EnterpriseServices
    程序集版本:4.0.0.0
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----------------------------------------
CommonServiceLocator
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----------------------------------------
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----------------------------------------
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----------------------------------------
System.Threading
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----------------------------------------
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----------------------------------------
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----------------------------------------
PresentationFramework.Aero2
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----------------------------------------
Dapper
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----------------------------------------
System.Xml.Linq
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----------------------------------------
System.Speech
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----------------------------------------
Microsoft.Toolkit.Uwp.Notifications
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----------------------------------------
Windows.UI
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----------------------------------------
Windows.Foundation
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----------------------------------------
System.Runtime.InteropServices.WindowsRuntime
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----------------------------------------
Windows.Data
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----------------------------------------
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----------------------------------------
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----------------------------------------
Windows.Storage
    程序集版本:255.255.255.255
    Win32 版本:10.0.10011.16384
    基本代码:file:///C:/WINDOWS/SysNative/WinMetadata/Windows.Storage.winmd
----------------------------------------
mscorlib.resources
    程序集版本:4.0.0.0
    Win32 版本:4.8.9032.0 built by: NET481REL1
    基本代码:file:///C:/WINDOWS/Microsoft.Net/assembly/GAC_MSIL/mscorlib.resources/v4.0_4.0.0.0_zh-Hans_b77a5c561934e089/mscorlib.resources.dll
----------------------------------------
DynamicComActivator
    程序集版本:0.0.0.0
    Win32 版本:7.0.1.1
    基本代码:file:///D:/ToastFish.v3.0/Release/Microsoft.Toolkit.Uwp.Notifications.dll
----------------------------------------
NPOI.OOXML
    程序集版本:2.5.5.0
    Win32 版本:2.5.5.0
    基本代码:file:///D:/ToastFish.v3.0/Release/NPOI.OOXML.DLL
----------------------------------------
NPOI
    程序集版本:2.5.5.0
    Win32 版本:2.5.5.0
    基本代码:file:///D:/ToastFish.v3.0/Release/NPOI.DLL
----------------------------------------
NPOI.OpenXml4Net
    程序集版本:2.5.5.0
    Win32 版本:2.5.5.0
    基本代码:file:///D:/ToastFish.v3.0/Release/NPOI.OpenXml4Net.DLL
----------------------------------------
NPOI.OpenXmlFormats
    程序集版本:2.5.5.0
    Win32 版本:2.5.5.0
    基本代码:file:///D:/ToastFish.v3.0/Release/NPOI.OpenXmlFormats.DLL
----------------------------------------
ICSharpCode.SharpZipLib
    程序集版本:1.3.2.10
    Win32 版本:1.3.2.10
    基本代码:file:///D:/ToastFish.v3.0/Release/ICSharpCode.SharpZipLib.DLL
----------------------------------------
System.Windows.Forms.resources
    程序集版本:4.0.0.0
    Win32 版本:4.8.9032.0 built by: NET481REL1
    基本代码:file:///C:/WINDOWS/Microsoft.Net/assembly/GAC_MSIL/System.Windows.Forms.resources/v4.0_4.0.0.0_zh-Hans_b77a5c561934e089/System.Windows.Forms.resources.dll
----------------------------------------

************** JIT 调试 **************
要启用实时(JIT)调试，
该应用程序或计算机的 .config 文件(machine.config)的 system.windows.forms 节中必须设置
jitDebugging 值。
编译应用程序时还必须启用
调试。

例如:

<configuration>
    <system.windows.forms jitDebugging="true" />
</configuration>

启用 JIT 调试后，任何未经处理的异常
都将被发送到在此计算机上注册的 JIT 调试程序，
而不是由此对话框处理。

怎么解决啊？

authors: fengshengbanxia yukminnie

repo: Uahh/ToastFish


text:
资源百度盘链接失效～～

您好！资源百度盘链接已经失效，不知道是否方便重新分享一下？谢谢！

已更新

已更新

非常感谢！

authors: Ubpa erosnick


text:
Fixes race on the constructor

My coworker found the issue here:
the constructor of VLP16Capture is calling the constructor of VelodyneCapture, and said constructor is opening the listening thread before initalize() was called which ends up using variables with garbage inside. It was a data race...
This should do the trick now. Also, some variables were removed for simplicity's sake.

Thanks! 👍

authors: UnaNancyOwen lasdasdas

repo: UnaNancyOwen/VelodyneCapture


text:
Got an error today after opening my panel

I opened my panel and I see this:

I haven't seen this error before, it just occurred when I opened my panel today.

Well that error just says that the response it got is wrong, you'll have to check your __UNAM_LIB\Logs folder for any error files, or there could be error.log files in any of your directories.

authors: UnamSanctam zozidalom

repo: UnamSanctam/UnamWebPanel


text:
Problems with Simulated Devices on ChirpStack

Good Morning!
I’m new to ChirpStack and the LWN simulator. I followed the 'IdealBit' tutorials to set up LWN and connect gateways/devices with ChirpStack, but I can’t access the device frames, and my device shows the status “Never seen.”

Any advice, recommendations, or help would be greatly appreciated!

Have you added the values in the Activation tab? Either the OTAA field or the 3 other keys should match in both the simulator and Chirpstack, I think.

Please check both your Simulator configuration (gateway and devices) and Chirpstack configuration. As said by @mmmaske check activation fields and DevUIs

Hello! thanks for your responses.
Yes, the OTAA is the same in both ChirpStack and LWNSimulator. The only thing I’ve changed is the region (from EU868 to AU915). Maybe I’m missing something because it works when I use EU868 and set the latitude and longitude values to 0. I noticed that even if I specify the region, the Region ID and Region common-name are still set to EU868. Is it possible I have to change something on Chirpstack's configuration?

This screenshot is from my previous configuration (test1).

This other one is what I see when using the EU868 region (test2).

I have recently joined the development of this project, so I am still learning, but I have seen some code related to your problem. I am working on a new release that aims to clean up the code from the recent PRs, unfortunately it has not been completed yet.
If I understand correctly, your problem is related to https://github.com/UniCT-ARSLab/LWN-Simulator/pull/18
Are you using the latest compiled binary released or are you compiling from source?
The compiled binary is quite old and does not incorporate the contributors' patches. Compile the master branch and let me know if it works for you.
Currently the #18 somehow breaks the Chirpstack connection, so I skipped it for now

I was compiling from the source code posted in the releases section.
Now, I cloned the GitHub repo on my PC, but when I try to add a new device, I get this error:

so I don't know if it works or not, because now I can't add a device... any recommendation?

I was compiling from the source code posted in the releases section.
Now, I cloned the GitHub repo on my PC, but when I try to add a new device, I get this error:

So, I’m not sure if it works or not, as I can’t add a device now. Any recommendations?

Hello, I was compiling from the source code posted in the releases section.
Now, I cloned the GitHub repo on my PC, but the problem persists.

Therefore, #18 is not related to your problem.
It requires a deeper investigation.

Hi all, any progress on this issue? I am facing the same. Region EU868

Region EU868 is not supposed to be affected by this issue. Please provide your configuration files.
Please remember to use the latest release from the "Releases" page or compile yourself the dev branch.

authors: ArrascaitaJ LightDestory mmmaske

repo: UniCT-ARSLab/LWN-Simulator


text:
Could you publish the unigame.localization model ?

For some reason, I can't install it under the help of the Unity package manager. I try to manually install the required module from your organization pages, but there is no "com.unigame.localization" package.🤣

Could you pls help me solve this problem. Thank it advanced!!! /😁😁😁

Well, i will try to fix that asap. Thx you

authors: Mefodei liuxinjia


text:
🛑 Pan & Cake Catering Co is down

In 2cbd009, Pan & Cake Catering Co (https://www.panandcakecatering.com/) was down:

HTTP code: 0
Response time: 0 ms

Resolved: Pan & Cake Catering Co is back up in 9aa6f9e after 8 minutes.

repo: UniSynTechnologies/Upptime


text:
Add more features to cli

Closes #42.

Uses cosmiconfig to use the specified config file, or searches if no file is specified
If --config-json is passed, it uses that. If not, it uses the above
If a file is passed through the --file-path and nothing in stdin, it will beautify the file.  Note at the time of this edit, it will still write to stdout.  The --out-file and --replace options have not been implemented yet

In order to cover as much code as possible, there have to be tests that beautify.  So you will need both eslint@4 and @unibeautify/beautifier-eslint installed globally when running npm test

@Glavin001 I'll add tests for everything later.  I want to get through the issues list as it is right now first.

Awesome work, @szeck87 !! 🎉
Let me know if you need anything else from me. :)

@Glavin001 could use help with what you suggested yesterday about the tests covering Runner's writeOut, writeError, and exit methods.

@szeck87 Let's talk tonight or this weekend and get the tests sorted out together :).

repo: Unibeautify/unibeautify-cli


text:
Add build summary entry for enable-benchmarks

In our build summary (and netcdf_meta.h) it would be good if we included whether or not benchmarks were built.
Also it would be useful to have the HDF5 version.

Adding the HDF5 version is hard in the autoconf build. See http://git.savannah.gnu.org/gitweb/?p=autoconf-archive.git;a=blob_plain;f=m4/ax_lib_hdf5.m4 for ideas.

repo: Unidata/netcdf-c


text:
API to obtain balance of pass/multi-ride ticket/travel account

Part of PI-7.
Once fulfilled, passes, multi-ride admissions and other travel accounts are provided in the Offer requests as ReductionCards.
This newly proposed API is going to provide balabce information (end of validity, remaining number of rides, unspent credit/money amount, etc.)

URL: GET /reductionCards/?issuerRef={{issuer_ref}}&identifier={{identifier}}

issuerRef (required): reference to issuer/maintainer of the reduction card or other multi-ticket/pass
identifier (required): number or code to identify the card

Response:
CardBalanceType:
    type: string
    x-extensible-enum:
        - NONE
        - TRIP
        - CREDIT
        - MONEY

{
    "issuerRef": "urn:uic:rics:1234",
    "identifier": "1234567890",
    "holderName": "Holder Name",
    "expirationDate": "9999-12-31",
    "balanceType": "MONEY",
    "balanceCurrency": "urn:iso:std:iso:4217:EUR",
    "totalBalance": "100",
    "remainingBalance": "60",
    "stopPlaceCoverage": [],
    "zoneCoverage": []
}

Doc:

issuerRef (required): reference to issuer/maintainer of the reduction card or other multi-ticket/pass
identifier (required): number or code to identify the card
holderName (optional): name of the card/product holder of not anonymous
expirationDate (required): date of product expiration, or 9999-12-31 for products not constrained by time
balanceType (required): type/unit to represent the balance of the card
balanceCurrency (optional): provided if balanceType is MONEY
totalBalance, remainingBalance (optional): of balanceType is not NONE
stopPlaceCoverage (optional, array): list of '#/components/schemas/StopPlaceRef' to list places covered by the product
zoneCoverage (optional, array): list of transportation zones covered by the product (there is not a ZoneRef yet) or we want combined StopPlaceOrZoneRef? or zone will be referenceable with StopPlaceRef?

For review:
EN 1545-1:2005 - Identification card systems - Surface transport applications - Part 1: Elementary data types, general code lists and general data elements

I am used to see 2 used of 10. You have a more positive approach 8 left of 10 , I like it :-)
For a multi-ride ticket with call off need (you have to book a trip to count the usage each time), a list of these bookings would be good to have. If it is only the id's or a more descriptive response is the question. I think a descriptive one is good to reduce the network traffic:
bookingId
offerId alt fulfillmentId
productDescription
purchaseTime
travelDateTime
price (probably 0.00 EUR)

I would suggest that we interpret (and document accordingly) the unit type "CREDIT" as a carrier/PTA defined unit, which can be consumed in multiples of one depending on the type of ticket purchased with the current reduction card. This would cover the case of the Munic "Streifenkarte", which comes with 10 "Stripes" and you have to cancel 1-10 stripes per trip (if you really, really want to know: https://www.mvv-muenchen.de/en/tickets-and-fares/tickets-daytickets/stripe-ticket/index.html. Trust me, you don't).

We also agreed not to confuse the concept of the existing master data type "ReductionCards" (which really is "ReductionCardTypes") with the actual balance of existing instances of reduction cards or multi ride tickets.
I believe we agreed to rename the existing master data endpoint to ReductionCardTypes, and to add the new endpoint as GET /ReductionCards/{reductionCardId}.

Regarding CREDIT UnitType I would suggest to rename it to NAMED and add an optional property unitName so we can call it Credits, Stripes, LEO Korunas (LEO Express had crowns, not credits), or whatever else.
Below is the updated proposal:
ReductionCardUnit:
    type: string
    x-extensible-enum:
        - NONE
        - TRIP
        - MONEY
        - NAMED

Master data's ReductionCard should be renamed to ReductionCardType.
Introduce new lookup-resource ReductionCard with query string parameters issuer and identifier.
{
    "reductionCardId": "{{ReductionCard.id}}",
    "reductionCardType": {
      "id" : "{{ReductionCardType.id}}",
      "issuer": "urn:uic:rics:1234",
      "name": "Example Travel Card"
      ...
    }
    "identifier": "1234567890",
    "holderName": "Example Holder Name",
    "expirationDate": "9999-12-31",
    "unit": "MONEY",
    "unitName": null,
    "balanceCurrency": "urn:iso:std:iso:4217:EUR",
    "totalBalance": "100",
    "remainingBalance": "60",
    "regionalConstraint": null,
    "consumptions" : []
}

ReductionCardConsumption provides history of consumption.
{
    "bookingId" : null,
    "unitsSpent" : 1,
    "spentOn" : "2023-01-01T01:01:01+01:00"
}

BookingId is optional.
Extend Offer in resource with array balanceConsumptions. This property provides indication how many units will be deduced from the reduction card when the offer will be booked. Below is example of a single BalanceConsumption.
{
    "unit" : "MONEY",
    "amount" : 100,
    "currency" : "urn:iso:std:iso:4217:EUR"
}

Also note that percentage discount of the reduction card will be provided textually in the ReductionCardType.name. This information is not needed in a machine readable form as the calculation is done be internal system and not the distributor connected via OSDM.

Discussion at the meeting on 3rd February: split the „ReductionCard“ into various subtypes, i.e.
AbstractTravelAccount

MultiRideAccount (Stripes, Trips, Credits, Days etc), has consumption and balance. This includes the multi-day passes like Interrail 5 days of travel out of 20 calender days
ReductionCard (e.g. Bahncard 25, 50, Swiss Halbtax, NS Voordeelkaart)
TravelPass (e.g. Bahncard 100, Swiss Generalabonnement, and also Weekly Pass for center of Prague)

When a MultiRideAccount is applied to an offer request, it typically results in a zero price offer with the indication of number of “units” which would be spent when the offer is booked
When a ReductionCard is applied, it reduces the price according to the tariff used (e.g. a BC50 reduces a Sparpreis by 25%, and it doesn’t reduce certain PTA prices at all)
When a Travel Pass is applied, it typically reduces the price of the part that is covered by the pass by 100%, and you only pay for the rest (e.g. BC100 on a trip from Munich to Paris – you only pay for the French part of the route)

Q: move birthDate from Passenger to PersonDetail?

Hi, I can't see where Passenger or PersonDetail come into play with these items. And frankly, I would leave all the passenger related structures as is and if we need one of these here simply reference them.

@ralfbayer-db @Linus-Turnit I was just working on this with Andreas and giving it more polish. Will explain tomorrow at the call, and we can still rethink that.

@ralfbayer-db and @jspetrak

@ralfbayer-db and @jspetrak: Thanks for your work it's part of OSDM 3.0 now.

authors: Linus-Turnit jspetrak ralfbayer-db schlpbch

repo: UnionInternationalCheminsdeFer/OSDM


text:
feat: convert to bignumber

Why JSBI? BigNumber better

agreed. Would probably want to update all internal dependencies to the latest version as a part of this effort, so it's not sprung on someone down the line upgrading for different reasons.

yeah def needs to be a major bump

authors: ewilz marktoda

repo: Uniswap/sdk-core


text:
Update README.md

SDK url was wrong

Linter fails. Can't see why. Can't run the linter again... ¯_(ツ)_/¯


text:
Support per-function requirements

It would be nice if different functions could have different requirements
example:
├── serverless.yml
├── function1
│      ├── requirements.txt
│      └── index.py
└── function2
       ├── requirements.txt
       └── index.py

This is a good idea - but a little tricky. The way serverless framework handles individual zips under the hood is a little bit complex, so handling this may be wasteful of overall space. For functions with the same requirements, you'd end up with an almost-identical zip file & double the time to upload and such.
To do this well, there'd probably have to be a check of duplicate requirements so functions with the same ones could share an artifact.

Hello,
I would definitely like the implementation of this feature.
I am currently using gordon for some of my lambda deployments and I would like to switch to serverless. But in gordon I use a requirements.txt file per functions because some of my functions use heavy dependencies and I dont want them to affect the other light functions. Plus I'd like to mix some python and node into the same serverless project, including the python dependencies into the node lambdas feels a bit weird.

What about these similar plugins?
https://github.com/cfchou/serverless-python-individually
https://github.com/ubaniabalogun/serverless-package-python-functions

Following @ryansb work on #117 I think this could be relatively easily implemented by looking for a requirementsFileName under functions that overrides the custom.pythonRequirements.fileName option when using package.individually=true

authors: Tethik dschep nknotts ryansb trecouvr

license: mit


text:
Leverage lambda-packages

I've come across the problems of dependencies that need to be compiled on an AWS instance in order to be run
This project solves it already: https://github.com/Miserlou/lambda-packages
It seems the Zappa framework has logic in place to do some dependency replacement...
https://github.com/Miserlou/Zappa#initial-deployments
To explain what's going on, when you call deploy, Zappa will automatically package up your application and local virtual environment into a Lambda-compatible archive, replace any dependencies with versions precompiled for Lambda, set up the function handler

could this plugin do the same?

What libraries are you having issues with? Have you tried the dockerized build support? https://github.com/UnitedIncome/serverless-python-requirements#cross-compiling

@dschep THANK YOU SO MUCH for making me try again. The library is Pillow
So it works when using Docker.
The issue I had then is that if you try without Docker, then you try with Docker, it doesn't "clean" your old dependencies and therefore you run into some issues. I think cleaning the .requirements folder is key for a good user experience

I can open a separate issue for that if you want?

Glad you got it working! Feel free to file an issue for that. The main reason I didn't do it is performance, cleaning .requirements everytime would slow down subsequent deploys i think.

authors: dschep simplesteph


text:
can't install handbrake

sudo dnf install handbrake-gui
Last metadata expiration check: 0:16:12 ago on Tue 16 Jul 2019 08:48:04 PM EDT.
Error:
Problem: conflicting requests

nothing provides libx265.so.169()(64bit) needed by handbrake-gui-1.2.2-8.git4eb9f7b.fc30.x86_64
(try to add '--skip-broken' to skip uninstallable packages)

I just upgraded to fedora 30 and tried to install Handbrake and I think x265 was updated and handbrake is looking for the old files.
x265 is now 3.1.1-7
https://unitedrpms.sourceforge.io/x86_64/repoview/x265.html

@feurry Thanks for the report; the issue will be solved in the nexts hours.

Thanks so much! Everything works

authors: feurry kuboosoft

repo: UnitedRPMs/issues


text:
3.0.0-2 export is broken (USDZ, USD) (USDU-238)

When using the latest version (3.0.0-2) of the package, the export is broken. To reproduce:

Create an empty project in Unity 2020.3.31f1
Add the USD SDK package to your project with the package manager
Import a texture, and create a cube with a simple material that has this texture in the scene (the material uses the Standard Shader)
Export this cube from the Scene with "Export Selected as USDZ"
Result: the export partially opens in Blender, and doesn't open at all on Apple devices.

All of this works perfectly in 3.0.0-1. Seems like a breaking change was introduced in 3.0.0-2.

Checked to be fixed on current latest version of "dev" branch on Mac

Exported a cube with a simple textured material from Unity as USDZ file
Opened the .USDZ file on Maya via [ Create > Universal Scene Description (USD) > Stage From File... ]
Cube is properly visible with the texture set on Unity

authors: lee-aandrew ponahoum

repo: Unity-Technologies/usd-unity-sdk


text:
Needs updating

Could you be so kind and work towards updating this node server. I for on and probably most do not want to open ports. I would pay for this node sever if the owner would work with Rachio to provide local connection to the device.
Thank you,

It is not possible to have a local connection, Rachio does not allow direct access to the devices.  Version 5.0.0 will support using the UDI Portal for which will eliminate the need for opening a local port as mentioned in #4.

authors: jimboca mrwkbrdr


text:
UR5e moves to (0,0,0,0,0,0) during normal execution

Affected ROS2 Driver version(s)
latest humble commit 1828fe02e7a6b15c3f16097975ed1a10e40015c5
Used ROS distribution.
Humble
Which combination of platform is the ROS driver running on.
Ubuntu Linux with standard kernel, Ubuntu Linux with realtime patch
How is the UR ROS2 Driver installed.
Build both the ROS driver and UR Client Library from source
Which robot platform is the driver connected to.
UR E-series robot, Real robot
Robot SW / URSim version(s)
5.13
How is the ROS driver used.
Through the robot teach pendant using External Control URCap
Issue details
Summary
We are using UR5e for a small picking demonstration. We are sending basic trajectories to move the robot inside a box, pick part, move outside and place in another box. Trajectories are tested and verified on ros2 control simulator.
Issue details
Once a new trajectory goal is published by our node to the driver, instead of moving along desired trajectory, robot suddenly moves to initial 0,0,0,0,0,0 position with very high speed. This behavior occurs randomly and is completely unpredictable. Here is a detailed description of our setup:

We use Ubuntu 22.04 with PREEMPT_RT kernel 6.1.46. ROS2 humble is obtained from latest available binary packages. The limits in /etc/security/limits.conf also correctly configured. We have also tested on standard 6.2 kernel without realtime and got same result.
We have built both ROS2 driver and Client Library from source. We used latest commit in humble branch for the driver and latest commit for Client Library.
We are using scaled_joint_trajectory_controller . We are publishing simple trajectories using node with rclcpp_action client. Each trajectory is either 2 points (start joint state, goal joint state and duration) or 6 points with spline time parameterization.
We have installed latest update SW 5.13 on the PolyScope.
Robot is running in remote mode. We have installed External Control URcap v1.0.5 on the PolyScope.
We start robot (power, break release etc) using dashboard ROS2 services. We load and play the URCap program also using dashboard ROS2 services.
Robot controller is connected to the PC using single dedicated network cable.

The error occured in following cases:

Normal operation. We are sending a trajectory of 6 points and instead of executing it, the robot shows error attached in the log and moves to 0,0,0,0,0,0 with high speed.
We stopped the robot using emergency button on teach panel. Then we resume the robot power. Stop URCap program and play it again. When the new trajectory is published the robot moves to to 0,0,0,0,0,0 with high speed. This occurs randomly and typically the robot continues operate normally after stop.
We stop and start the driver multiple times during the day. If the driver did not started correctly (no indication in the log) same error occurs.
We have switched robot to the local control, moved robot using teach panel, switched back to remote mode, started URCap program using dashboard play service.

Steps to Reproduce
The error occurs randomly, you can try to replicate cases above and send single trajectory of >6 points.
Expected Behavior
According to the error log the driver lost connection or not getting correct feedback from the robot. If the connection to the robot is lost/interrupted the driver should cancel motion and stop. The robot should never randomly move to 0,0,0,0,0,0 position in any circumstance.
Actual Behavior
The robot starts moving to 0,0,0,0,0,0 position at very high speed.
Workaround Suggestion
We have not tested to run in headless mode. But our current configuration is not safe to use.
Relevant log output
Sep 12 13:21:23  [ur_ros2_control_node-1] [INFO] [1694517683.420553366] [scaled_joint_trajectory_controller]: Received new action goal
Sep 12 13:21:23  [ur_ros2_control_node-1] [INFO] [1694517683.420580925] [scaled_joint_trajectory_controller]: Accepted new action goal
Sep 12 13:21:27  [ur_ros2_control_node-1] [INFO] [1694517687.421991020] [scaled_joint_trajectory_controller]: Goal reached, success!
Sep 12 13:21:27  [ur_ros2_control_node-1] [INFO] [1694517687.615490226] [io_and_status_controller]: Setting digital output '4' to state: '1'.
Sep 12 13:21:27  [ur_ros2_control_node-1] [INFO] [1694517687.715651625] [io_and_status_controller]: Setting digital output '5' to state: '1'.
Sep 12 13:21:27  [ur_ros2_control_node-1] [INFO] [1694517687.826102946] [scaled_joint_trajectory_controller]: Received new action goal
Sep 12 13:21:27  [ur_ros2_control_node-1] [INFO] [1694517687.826135399] [scaled_joint_trajectory_controller]: Accepted new action goal
Sep 12 13:21:29  [ur_ros2_control_node-1] [INFO] [1694517689.827904775] [scaled_joint_trajectory_controller]: Goal reached, success!
Sep 12 13:21:30  [ur_ros2_control_node-1] [INFO] [1694517690.078498089] [scaled_joint_trajectory_controller]: Received new action goal
Sep 12 13:21:30  [ur_ros2_control_node-1] [INFO] [1694517690.078525009] [scaled_joint_trajectory_controller]: Accepted new action goal
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.079830850] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.079843569] [tolerances]: Position Error: -1.376591, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.079851533] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.079856422] [tolerances]: Position Error: -3.068104, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.079862062] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.079866394] [tolerances]: Position Error: 2.691050, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.079872186] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.079876501] [tolerances]: Position Error: 0.216523, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.079882046] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.079886363] [tolerances]: Position Error: 2.558916, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.079891795] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.079896119] [tolerances]: Position Error: -1.021753, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [WARN] [1694517690.079904305] [scaled_joint_trajectory_controller]: Aborted due to state tolerance violation
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.082024796] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.082036927] [tolerances]: Position Error: -1.376542, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.082044798] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.082049471] [tolerances]: Position Error: -3.068166, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.082055378] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.082059531] [tolerances]: Position Error: 2.691178, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.082065143] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.470052114] [tolerances]: Position Error: -0.569223, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.470057709] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.470061775] [tolerances]: Position Error: 0.228544, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.471914121] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.471926233] [tolerances]: Position Error: 0.297476, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.471934133] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.471938513] [tolerances]: Position Error: -0.667458, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.471944444] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.471948457] [tolerances]: Position Error: 0.762986, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.471954221] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.471958270] [tolerances]: Position Error: -0.412087, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.471963702] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.471985670] [tolerances]: Position Error: -0.568199, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.471993699] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.471998195] [tolerances]: Position Error: 0.228196, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.473942959] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.473955017] [tolerances]: Position Error: 0.297177, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.473962961] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.473967194] [tolerances]: Position Error: -0.666427, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.473973301] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.473977343] [tolerances]: Position Error: 0.761690, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.473983126] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.473987215] [tolerances]: Position Error: -0.410350, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.473992665] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.473996750] [tolerances]: Position Error: -0.566963, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.474002126] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.474006196] [tolerances]: Position Error: 0.227767, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.475890952] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.475903010] [tolerances]: Position Error: 0.296810, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.475910881] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.475915041] [tolerances]: Position Error: -0.665174, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.475921132] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.475925199] [tolerances]: Position Error: 0.760203, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.475930979] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.475935165] [tolerances]: Position Error: -0.408503, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.475940801] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.475945148] [tolerances]: Position Error: -0.565656, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.475950617] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.475954688] [tolerances]: Position Error: 0.227153, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.478053292] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.478064858] [tolerances]: Position Error: 0.296360, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.478072562] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.478077198] [tolerances]: Position Error: -0.663898, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.478083348] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.478087609] [tolerances]: Position Error: 0.758444, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.478093414] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.478097472] [tolerances]: Position Error: -0.406415, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.478102888] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.478106997] [tolerances]: Position Error: -0.564262, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.478112308] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.478116428] [tolerances]: Position Error: 0.226592, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.479941096] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.479952377] [tolerances]: Position Error: 0.295812, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.479959667] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.479964588] [tolerances]: Position Error: -0.662379, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.479970440] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.479974623] [tolerances]: Position Error: 0.756439, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.479980490] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.479984663] [tolerances]: Position Error: -0.404391, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.480004967] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.480010836] [tolerances]: Position Error: -0.562843, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.480016861] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.480021407] [tolerances]: Position Error: 0.226027, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.481974296] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.481985726] [tolerances]: Position Error: 0.295222, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.481993216] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.481997834] [tolerances]: Position Error: -0.660668, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.482003955] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.482008175] [tolerances]: Position Error: 0.754250, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.482013919] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.482017980] [tolerances]: Position Error: -0.402048, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.482023416] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.482027563] [tolerances]: Position Error: -0.561459, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.482032795] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.482036905] [tolerances]: Position Error: 0.225460, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.483943994] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.483955249] [tolerances]: Position Error: 0.294606, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.483962649] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.483966748] [tolerances]: Position Error: -0.658887, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.483973323] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.483977317] [tolerances]: Position Error: 0.751917, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.483983052] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.483987178] [tolerances]: Position Error: -0.399607, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.483992886] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.483996853] [tolerances]: Position Error: -0.559984, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.484002297] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.484006230] [tolerances]: Position Error: 0.224704, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.486014147] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.486026965] [tolerances]: Position Error: 0.293825, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.486035152] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.486039059] [tolerances]: Position Error: -0.656974, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.486045332] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.486049425] [tolerances]: Position Error: 0.749406, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.486054707] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.486058832] [tolerances]: Position Error: -0.397084, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.486064205] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.486068291] [tolerances]: Position Error: -0.558572, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.486073667] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.486077723] [tolerances]: Position Error: 0.223852, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.487960349] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.487971731] [tolerances]: Position Error: 0.293112, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.487979077] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.487983827] [tolerances]: Position Error: -0.654920, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.487989857] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.487994014] [tolerances]: Position Error: 0.746772, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.488018148] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.488023601] [tolerances]: Position Error: -0.394531, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.488030000] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.488034317] [tolerances]: Position Error: -0.557090, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.488040180] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.488044192] [tolerances]: Position Error: 0.223154, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.489966426] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.489978176] [tolerances]: Position Error: 0.292391, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.489985907] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.489990038] [tolerances]: Position Error: -0.652722, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.489996229] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.490000422] [tolerances]: Position Error: 0.744054, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.490006058] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.490010180] [tolerances]: Position Error: -0.391610, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.490015700] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.490019740] [tolerances]: Position Error: -0.555535, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.490025121] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.490029164] [tolerances]: Position Error: 0.222396, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.491960983] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.491972349] [tolerances]: Position Error: 0.291492, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.491979868] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.491984433] [tolerances]: Position Error: -0.650344, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.491990462] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.491994657] [tolerances]: Position Error: 0.741191, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.492000540] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.492004503] [tolerances]: Position Error: -0.388656, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.492009897] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.492013911] [tolerances]: Position Error: -0.553941, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.492019400] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.492023459] [tolerances]: Position Error: 0.221532, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.493971754] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.493983060] [tolerances]: Position Error: 0.290687, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.493990633] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.493994683] [tolerances]: Position Error: -0.647899, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.494000861] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.494004946] [tolerances]: Position Error: 0.738089, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.494010564] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.494014615] [tolerances]: Position Error: -0.385509, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.494019988] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.494024039] [tolerances]: Position Error: -0.552174, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.494029404] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.494033448] [tolerances]: Position Error: 0.220722, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.594155308] [URPositionHardwareInterface]: Unable to read from hardware...
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.594214084] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.594221503] [tolerances]: Position Error: 0.290632, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.594229349] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.594233718] [tolerances]: Position Error: -0.657372, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.594265938] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.594271534] [tolerances]: Position Error: 0.703701, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.594276994] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.594280921] [tolerances]: Position Error: -0.341642, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.594286820] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.594290854] [tolerances]: Position Error: -0.552165, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.594296265] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.594300252] [tolerances]: Position Error: 0.220924, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.694472576] [URPositionHardwareInterface]: Unable to read from hardware...
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.694535869] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.694543408] [tolerances]: Position Error: 0.290590, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.694552535] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.694556079] [tolerances]: Position Error: -0.664292, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.694561565] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.694565478] [tolerances]: Position Error: 0.671923, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.694570432] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.694574122] [tolerances]: Position Error: -0.302942, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.694578767] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.694582569] [tolerances]: Position Error: -0.552157, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.694587429] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.694591374] [tolerances]: Position Error: 0.221108, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.794752414] [URPositionHardwareInterface]: Unable to read from hardware...
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.794811853] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.794819742] [tolerances]: Position Error: 0.290553, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.794828760] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.794832846] [tolerances]: Position Error: -0.669839, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.794837754] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.794842130] [tolerances]: Position Error: 0.638816, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.794847141] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.794850834] [tolerances]: Position Error: -0.264292, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.794855555] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.794859165] [tolerances]: Position Error: -0.552149, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.794864190] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.794868747] [tolerances]: Position Error: 0.221296, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.794993505] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.795001294] [tolerances]: Position Error: 0.290559, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.795007870] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.795012011] [tolerances]: Position Error: -0.668989, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.795016946] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.795020739] [tolerances]: Position Error: 0.644577, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.795025718] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.795029523] [tolerances]: Position Error: -0.270903, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.795034354] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.795038551] [tolerances]: Position Error: -0.552150, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.795043788] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.795047510] [tolerances]: Position Error: 0.221264, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.797819067] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.797831748] [tolerances]: Position Error: 0.290558, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.797839442] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.797843652] [tolerances]: Position Error: -0.669147, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.797850022] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.797854025] [tolerances]: Position Error: 0.643533, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.797859243] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.797863600] [tolerances]: Position Error: -0.269701, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.797868842] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.797876574] [tolerances]: Position Error: -0.552150, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.797882123] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.797886036] [tolerances]: Position Error: 0.221269, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.799811757] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.799823795] [tolerances]: Position Error: 0.290558, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.799831796] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.799836191] [tolerances]: Position Error: -0.669096, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.799842433] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.799846696] [tolerances]: Position Error: 0.643868, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.799852499] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.799856769] [tolerances]: Position Error: -0.270087, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.799862254] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.799866526] [tolerances]: Position Error: -0.552150, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.799871920] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.799875971] [tolerances]: Position Error: 0.221268, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.801853235] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.801866216] [tolerances]: Position Error: 0.290558, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.801873959] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.801878192] [tolerances]: Position Error: -0.669099, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.801884396] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.801888439] [tolerances]: Position Error: 0.643850, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.801893595] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.801897972] [tolerances]: Position Error: -0.270065, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.801903316] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.801907374] [tolerances]: Position Error: -0.552150, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.801912574] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.801916585] [tolerances]: Position Error: 0.221268, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [INFO] [1694517690.802097511] [UR_Client_Library:]: Connection to reverse interface dropped.
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.803894951] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.803906300] [tolerances]: Position Error: 0.290558, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.803914064] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.803918382] [tolerances]: Position Error: -0.669098, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.803924594] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.803928714] [tolerances]: Position Error: 0.643854, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.803934554] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.803938771] [tolerances]: Position Error: -0.270071, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.803944621] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.803948859] [tolerances]: Position Error: -0.552150, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.803975183] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.803981340] [tolerances]: Position Error: 0.221268, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [INFO] [1694517690.804131093] [io_and_status_controller]: Configure UR gpio controller with tf_prefix:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.805794439] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.805806854] [tolerances]: Position Error: 0.290558, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.805814448] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.805818513] [tolerances]: Position Error: -0.669092, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.805824779] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.805828827] [tolerances]: Position Error: 0.643898, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.805834427] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.805838407] [tolerances]: Position Error: -0.270121, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.805843697] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.805847569] [tolerances]: Position Error: -0.552150, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.805852823] [tolerances]: Path state tolerances failed:
Sep 12 13:21:30  [ur_ros2_control_node-1] [ERROR] [1694517690.805856786] [tolerances]: Position Error: 0.221267, Position Tolerance: 0.200000
Sep 12 13:21:30  [ur_ros2_control_node-1] [INFO] [1694517690.805965141] [io_and_status_controller]: Configure UR gpio controller with tf_prefix:
Sep 12 13:21:35  [ur_ros2_control_node-1] [INFO] [1694517695.439057342] [UR_Client_Library:]: Robot requested program
Sep 12 13:21:35  [ur_ros2_control_node-1] [INFO] [1694517695.439086989] [UR_Client_Library:]: Sent program to robot

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Hi there, thanks for reporting this. The output regarding failed tolerances indicates that there is velocity scaling active. Could you provide a complete sample trajectory with which this is reproducible?
Since you said, you confirmed this is working with the simulator: this does not happen when using ursim?

For know I haven't been able to reproduce this issue with a ursim. As @fmauch suggested is it possible that you could provide a complete sample trajectory where this issue occurs? Or even better can you provide the code you use to generate and publish the trajectory?

this does not happen when using ursim?

I have tested with ursim today extensively and the problem did not happen. I even simulated various network failures via tc-netem tool and everything behaved as expected (robot stopped when the connection to the interface was lost)
But the behavior of the simulator is ideal. With real hardware the behavior was different.
Here is an example of short trajectory cycle we are sending to the robot.
The problem occurred when we sent MOVE_LINEAR trajectory.
Unfortunately, I cannot provide an example which can be reproduced on ursim, since the issue happens only on real robot hardware.
[test_node-1] [INFO] [1694786693.356491537] [test_node]: received 'MOVE' request
[test_node-1] Trajectory point N 0
[test_node-1] time from start: 0
[test_node-1] joint positions: 0.043128, -1.28824, 1.37179, -1.82208, -1.63632, -2.13071,
[test_node-1] joint velocities: 0, 0, 0, 0, 0, 0,
[test_node-1] Trajectory point N 1
[test_node-1] time from start: 4
[test_node-1] joint positions: -0.195016, -1.70093, 0.902027, -0.944217, -1.52982, -0.195171,
[test_node-1] joint velocities: 0, 0, 0, 0, 0, 0,
[test_node-1] [INFO] [1694786697.370322140] [test_node]: Trajectory was executed in 4.00366 seconds.

[test_node-1] [INFO] [1694786699.063698768] [test_node]: received 'MOVE' request
[test_node-1] Trajectory point N 0
[test_node-1] time from start: 0
[test_node-1] joint positions: -0.195016, -1.70094, 0.902027, -0.944217, -1.52982, -0.195171,
[test_node-1] joint velocities: 0, 0, 0, 0, 0, 0,
[test_node-1] Trajectory point N 1
[test_node-1] time from start: 8
[test_node-1] joint positions: 0.30493, -0.982258, 0.955637, -1.48215, -1.72737, 0.204445,
[test_node-1] joint velocities: 0, 0, 0, 0, 0, 0,
[test_node-1] [INFO] [1694786707.180767196] [test_node]: Trajectory was executed in 8.10695 seconds.

[test_node-1] [INFO] [1694786707.273103585] [test_node]: received 'MOVE' request
[test_node-1] Trajectory point N 0
[test_node-1] time from start: 0
[test_node-1] joint positions: 0.30493, -0.982258, 0.955637, -1.48215, -1.72737, 0.204445,
[test_node-1] joint velocities: 0, 0, 0, 0, 0, 0,
[test_node-1] Trajectory point N 1
[test_node-1] time from start: 4
[test_node-1] joint positions: 0.298479, -0.988688, 1.04161, -1.56271, -1.72777, 0.197927,
[test_node-1] joint velocities: 0, 0, 0, 0, 0, 0,
[test_node-1] [INFO] [1694786711.286847325] [test_node]: Trajectory was executed in 4.00365 seconds.

[test_node-1] [INFO] [1694786711.576626438] [test_node]: received 'MOVE' request
[test_node-1] Trajectory point N 0
[test_node-1] time from start: 0
[test_node-1] joint positions: 0.298479, -0.988688, 1.04161, -1.56271, -1.72777, 0.197927,
[test_node-1] joint velocities: 0, 0, 0, 0, 0, 0,
[test_node-1] Trajectory point N 1
[test_node-1] time from start: 2
[test_node-1] joint positions: 0.30493, -0.982258, 0.955637, -1.48215, -1.72737, 0.204445,
[test_node-1] joint velocities: 0, 0, 0, 0, 0, 0,
[test_node-1] [INFO] [1694786713.688662269] [test_node]: Trajectory was executed in 2.10191 seconds.

[test_node-1] [INFO] [1694786713.778641016] [test_node]: received 'MOVE_LINEAR' request
[test_node-1] Trajectory point N 0
[test_node-1] time from start: 0
[test_node-1] joint positions: 0.30493, -0.982258, 0.955637, -1.48215, -1.72737, 0.204445,
[test_node-1] joint velocities: 0, 0, 0, 0, 0, 0,
[test_node-1] Trajectory point N 1
[test_node-1] time from start: 0.257005
[test_node-1] joint positions: 0.304943, -0.978438, 0.891114, -1.42144, -1.72737, 0.204458,
[test_node-1] joint velocities: -5.57244e-05, 0.0461017, -0.498813, 0.452714, 1.13123e-05, -5.70261e-05,
[test_node-1] Trajectory point N 2
[test_node-1] time from start: 0.382078
[test_node-1] joint positions: 0.30493, -0.969934, 0.818666, -1.3575, -1.72737, 0.204445,
[test_node-1] joint velocities: -6.99323e-05, 0.0885967, -0.621143, 0.53255, 1.41965e-05, -7.15658e-05,
[test_node-1] Trajectory point N 3
[test_node-1] time from start: 0.514344
[test_node-1] joint positions: 0.30493, -0.955802, 0.736308, -1.28927, -1.72737, 0.204445,
[test_node-1] joint velocities: 2.02079e-05, 0.122921, -0.622149, 0.499228, -4.10228e-06, 2.06799e-05,
[test_node-1] Trajectory point N 4
[test_node-1] time from start: 0.668323
[test_node-1] joint positions: 0.30493, -0.934311, 0.640431, -1.21489, -1.72737, 0.204445,
[test_node-1] joint velocities: -6.05417e-06, 0.156698, -0.626669, 0.469971, 1.22901e-06, -6.19559e-06,
[test_node-1] Trajectory point N 5
[test_node-1] time from start: 0.85796
[test_node-1] joint positions: 0.30493, -0.902023, 0.523852, -1.1306, -1.72737, 0.204445,
[test_node-1] joint velocities: 2.13286e-06, 0.175704, -0.581675, 0.405972, -4.32984e-07, 2.18268e-06,
[test_node-1] Trajectory point N 6
[test_node-1] time from start: 1.3103
[test_node-1] joint positions: 0.30493, -0.850002, 0.367943, -1.02671, -1.72737, 0.204445,
[test_node-1] joint velocities: 0, 0, 0, 0, 0, 0,
[test_node-1] [INFO] [1694786715.240074438] [test_node]: Trajectory was executed in 1.40097 seconds.

[test_node-1] [INFO] [1694786715.279868288] [test_node]: received 'MOVE' request
[test_node-1] Trajectory point N 0
[test_node-1] time from start: 0
[test_node-1] joint positions: 0.30493, -0.850006, 0.367955, -1.02671, -1.72737, 0.204445,
[test_node-1] joint velocities: 0, 0, 0, 0, 0, 0,
[test_node-1] Trajectory point N 1
[test_node-1] time from start: 4
[test_node-1] joint positions: -1.73736, -2.26675, 1.99658, -1.296, -1.57509, -2.32499,
[test_node-1] joint velocities: 0, 0, 0, 0, 0, 0,
[test_node-1] [INFO] [1694786719.393518545] [test_node]: Trajectory was executed in 4.10352 seconds.

[test_node-1] [INFO] [1694786719.483745222] [test_node]: received 'MOVE' request
[test_node-1] Trajectory point N 0
[test_node-1] time from start: 0
[test_node-1] joint positions: -1.73736, -2.26675, 1.99658, -1.296, -1.57509, -2.32499,
[test_node-1] joint velocities: 0, 0, 0, 0, 0, 0,
[test_node-1] Trajectory point N 1
[test_node-1] time from start: 3
[test_node-1] joint positions: -1.66795, -1.87629, 1.8111, -1.5007, -1.57476, -2.25559,
[test_node-1] joint velocities: 0, 0, 0, 0, 0, 0,
[test_node-1] [INFO] [1694786722.496195495] [test_node]: Trajectory was executed in 3.00232 seconds.

[test_node-1] [INFO] [1694786722.586470823] [test_node]: received 'MOVE' request
[test_node-1] Trajectory point N 0
[test_node-1] time from start: 0
[test_node-1] joint positions: -1.66795, -1.87629, 1.8111, -1.5007, -1.57476, -2.25559,
[test_node-1] joint velocities: 0, 0, 0, 0, 0, 0,
[test_node-1] Trajectory point N 1
[test_node-1] time from start: 4
[test_node-1] joint positions: -1.73736, -2.26675, 1.99658, -1.296, -1.57509, -2.32499,
[test_node-1] joint velocities: 0, 0, 0, 0, 0, 0,
[test_node-1] [INFO] [1694786726.700448778] [test_node]: Trajectory was executed in 4.10383 seconds.

[test_node-1] [INFO] [1694786726.790036854] [test_node]: received 'MOVE' request
[test_node-1] Trajectory point N 0
[test_node-1] time from start: 0
[test_node-1] joint positions: -1.73736, -2.26675, 1.99658, -1.296, -1.57509, -2.32499,
[test_node-1] joint velocities: 0, 0, 0, 0, 0, 0,
[test_node-1] Trajectory point N 1
[test_node-1] time from start: 6
[test_node-1] joint positions: 1.16829, -1.86254, 1.60861, -1.31265, -1.57557, -0.440643,
[test_node-1] joint velocities: 0, 0, 0, 0, 0, 0,
[test_node-1] [INFO] [1694786732.905519651] [test_node]: Trajectory was executed in 6.10539 seconds.

[test_node-1] [INFO] [1694786733.195629718] [test_node]: received 'MOVE' request
[test_node-1] Trajectory point N 0
[test_node-1] time from start: 0
[test_node-1] joint positions: 1.16829, -1.86254, 1.60861, -1.31265, -1.57557, -0.440643,
[test_node-1] joint velocities: 0, 0, 0, 0, 0, 0,
[test_node-1] Trajectory point N 1
[test_node-1] time from start: 4
[test_node-1] joint positions: -0.195016, -1.70093, 0.902023, -0.944215, -1.52982, -0.19517,
[test_node-1] joint velocities: 0, 0, 0, 0, 0, 0,
[test_node-1] [INFO] [1694786737.309067384] [test_node]: Trajectory was executed in 4.10333 seconds.

I'll try to put together a script testing this on one of our robots.

Here is an example of short trajectory cycle we are sending to the robot.
The problem occurred when we sent MOVE_LINEAR trajectory.

What's the difference between your MOVE and MOVE_LINEAR? Are both simply goals sent to the scaled JTC?

What's the difference between your MOVE and MOVE_LINEAR? Are both simply goals sent to the scaled JTC?

Yes, there is no difference. Both are joint trajectories sent to the JTC. The naming is only for internal usage

I have investigated the issue further and managed to reproduce an error similar to what you are experiencing. Is the first point in each trajectory defined with a time of zero? If yes then this could be causing your issue.
If the first point is defined with a time of zero and differs from the current robot position, it would result in the robot moving very quickly towards the target. This is because the commands sent to the robot won't be achievable within a single control cycle, which is expected. I can see that the first point in each trajectory is equal to the last point in the previous trajectory, ensuring that the robot should always start in the correct position. This could explain why you are only experiencing it intermittently, as the robot might have been moved to a different position than expected before you started the driver, or for some reason the target from the previous trajectory hasn't been reached.
This however does not answer why the robot is moving towards joint positions [0,0,0,0,0,0]. Where do you see that the robot is moving towards joint position [0,0,0,0,0,0]? I haven't been able to find it in the logs you have provided.
When you have a chance to test it again you can either try to remove the first point with time zero or set the time to be larger than zero to give the robot time to reach the point, to see if that fixes the issue.
When the current robot position deviates from the path and prints the error you see in the log the robot should definitely stop moving, which is currently not the case, so I will have a look at implementing a fix for that.

@urmahp note that the upstream JTC recently got updates regarding trajectory_start time. They are also planning on integrating the scaling functionality upstream soon.

Is the first point in each trajectory defined with a time of zero?

Yes, The first point in each trajectory is current joint states, from which robot should start the motion. And time from the start is also zero according to this comment in joint trajectory controller. Unfortunately, I do not know if scaled joint trajectory controller behaves same way. Is there any example trajectory for scaled JTC ?

Where do you see that the robot is moving towards joint position [0,0,0,0,0,0]? I haven't been able to find it in the logs you have provided.

We saw it visually, when the real robot moved, this is not indicated in the driver logs and I cannot repeat the experiment since I don't have access to the robot anymore. We will get another UR10 in October and I will check if the issue still persists.

@iydv we have not succeed to reproduce and understand where the [0,0,0,0,0,0] are coming from as @fmauch and @urmahp mentioned.
But we have identified that scale JTC does not cancel the motion when the tolerance is too high, which we will fix asap.
In addition, we are also planning to put some checks in the Client library to avid this in the future.

I've created a possible fix in #810. This is targeting Rolling, but I'll prepare something similar for Humble, as well.

I'll go ahead and close this, since I think this should be fixed by the changes in #810 / #811. @iydv feel free to reopen if you still experience the problem, though.

authors: fmauch iydv urmahp urrsk