Comments for Zacobria Universal-Robots community - a help forum with hints tips and how to use universal robot CB2

Zacobria Robot community forum Universal-Robots

12/04/2017 06:12 PM
Comment on UR Script: by Arunava Nag
Hello, For Ubuntu 16.04 I fixed this. 1. Install Java 8. (https://www.digitalocean.com/community/tutorials/how-to-install-java-with-apt-get-on-ubuntu-16-04) 2. Change the <code>install.sh <code> <code>commonDependencies='libcurl3 openjdk-6-jre libjava3d-* <code> to <code>commonDependencies='libcurl3 openjdk-8-jre libjava3d-* <code> 3. Make sure the system is sourcing or using java8. Make sure using <code> java -version. </code> if there are multiple version use: <code>sudo update-alternatives --config java </code> and select the version to be jdk 8. 4. change the following to be executable <code>sudo chmod +x filename.sh start-ursim.sh starturcontrol.sh stopurcontrol.sh URControl <code>

12/04/2017 05:37 PM
Comment on MoveP (Process Move – Circular Move) by zacopressadmin
Hi Konecki Yes it will be good to see a video of the task - maybe consider to upload to a place where it is accesiable from public. Author: <a href="https://plus.google.com/u/0/116832821661215606670?rel=author" rel="nofollow">By Zacobria Lars Skovsgaard</a> Accredited Universal Robots support Centre and Forum. <br /> <br /> <a href="http://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/" rel="nofollow">Also check out the CB3 forum</a> <div class="fb-like" data-href="http://www.zacobria.com" data-send="false" data-layout="button_count" data-width="450" data-show-faces="false" data-font="arial" data-action="recommend"></div> <div class="fb-share-button" data-href="https://zacobria.com" data-layout="button_count"></div> <br /> <script type="IN/Share" data-counter="right" data-onsuccess="LinkedInShare"></script> <div class="g-follow" data-annotation="bubble" data-height="20" data-href="https://plus.google.com/116832821661215606670" data-rel="author"></div> <div class="g-plusone" data-size="medium" data-annotation="bubble" data-width="300"></div> <div class="g-plus" data-action="share" data-annotation="bubble"></div> <a href="https://twitter.com/share" class="twitter-share-button" data-url="http://www.zacobria.com" data-via="zacobria" rel="nofollow">Tweet</a> <script>!function(d,s,id){var js,fjs=d.getElementsByTagName(s)[0],p=/^http:/.test(d.location)?'http':'https';if(!d.getElementById(id)){js=d.createElement(s);js.id=id;js.src=p+'://platform.twitter.com/widgets.js';fjs.parentNode.insertBefore(js,fjs);}}(document, 'script', 'twitter-wjs');</script> <a href="https://twitter.com/zacobria" class="twitter-follow-button" data-show-count="true" rel="nofollow">Follow @zacobria</a> <script>!function(d,s,id){var js,fjs=d.getElementsByTagName(s)[0],p=/^http:/.test(d.location)?'http':'https';if(!d.getElementById(id)){js=d.createElement(s);js.id=id;js.src=p+'://platform.twitter.com/widgets.js';fjs.parentNode.insertBefore(js,fjs);}}(document, 'script', 'twitter-wjs');</script>

12/04/2017 05:35 PM
Comment on Preface Universal-Robots CB2 Forum: by zacopressadmin
Hello marius Thanks for the question. I such case maybe consider to contact your robot provider. Author: <a href="https://plus.google.com/u/0/116832821661215606670?rel=author" rel="nofollow">By Zacobria Lars Skovsgaard</a> Accredited Universal Robots support Centre and Forum. <br /> <br /> <a href="http://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/" rel="nofollow">Also check out the CB3 forum</a> <div class="fb-like" data-href="http://www.zacobria.com" data-send="false" data-layout="button_count" data-width="450" data-show-faces="false" data-font="arial" data-action="recommend"></div> <div class="fb-share-button" data-href="https://zacobria.com" data-layout="button_count"></div> <br /> <script type="IN/Share" data-counter="right" data-onsuccess="LinkedInShare"></script> <div class="g-follow" data-annotation="bubble" data-height="20" data-href="https://plus.google.com/116832821661215606670" data-rel="author"></div> <div class="g-plusone" data-size="medium" data-annotation="bubble" data-width="300"></div> <div class="g-plus" data-action="share" data-annotation="bubble"></div> <a href="https://twitter.com/share" class="twitter-share-button" data-url="http://www.zacobria.com" data-via="zacobria" rel="nofollow">Tweet</a> <script>!function(d,s,id){var js,fjs=d.getElementsByTagName(s)[0],p=/^http:/.test(d.location)?'http':'https';if(!d.getElementById(id)){js=d.createElement(s);js.id=id;js.src=p+'://platform.twitter.com/widgets.js';fjs.parentNode.insertBefore(js,fjs);}}(document, 'script', 'twitter-wjs');</script> <a href="https://twitter.com/zacobria" class="twitter-follow-button" data-show-count="true" rel="nofollow">Follow @zacobria</a> <script>!function(d,s,id){var js,fjs=d.getElementsByTagName(s)[0],p=/^http:/.test(d.location)?'http':'https';if(!d.getElementById(id)){js=d.createElement(s);js.id=id;js.src=p+'://platform.twitter.com/widgets.js';fjs.parentNode.insertBefore(js,fjs);}}(document, 'script', 'twitter-wjs');</script>

12/04/2017 05:35 PM
Comment on UR Script: by Arunava Nag
Hello, The error message is when I run the start-ursim.sh script. Thanks, Arunava Nag

12/04/2017 05:34 PM
Comment on UR Script: by zacopressadmin
Hello Arunava Thanks for the question. It looks like the files has not been uppacked correctly. Was there any error messages during the installation ? Author: <a href="https://plus.google.com/u/0/116832821661215606670?rel=author" rel="nofollow">By Zacobria Lars Skovsgaard</a> Accredited Universal Robots support Centre and Forum. <br /> <br /> <a href="http://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/" rel="nofollow">Also check out the CB3 forum</a> <div class="fb-like" data-href="http://www.zacobria.com" data-send="false" data-layout="button_count" data-width="450" data-show-faces="false" data-font="arial" data-action="recommend"></div> <div class="fb-share-button" data-href="https://zacobria.com" data-layout="button_count"></div> <br /> <script type="IN/Share" data-counter="right" data-onsuccess="LinkedInShare"></script> <div class="g-follow" data-annotation="bubble" data-height="20" data-href="https://plus.google.com/116832821661215606670" data-rel="author"></div> <div class="g-plusone" data-size="medium" data-annotation="bubble" data-width="300"></div> <div class="g-plus" data-action="share" data-annotation="bubble"></div> <a href="https://twitter.com/share" class="twitter-share-button" data-url="http://www.zacobria.com" data-via="zacobria" rel="nofollow">Tweet</a> <script>!function(d,s,id){var js,fjs=d.getElementsByTagName(s)[0],p=/^http:/.test(d.location)?'http':'https';if(!d.getElementById(id)){js=d.createElement(s);js.id=id;js.src=p+'://platform.twitter.com/widgets.js';fjs.parentNode.insertBefore(js,fjs);}}(document, 'script', 'twitter-wjs');</script> <a href="https://twitter.com/zacobria" class="twitter-follow-button" data-show-count="true" rel="nofollow">Follow @zacobria</a> <script>!function(d,s,id){var js,fjs=d.getElementsByTagName(s)[0],p=/^http:/.test(d.location)?'http':'https';if(!d.getElementById(id)){js=d.createElement(s);js.id=id;js.src=p+'://platform.twitter.com/widgets.js';fjs.parentNode.insertBefore(js,fjs);}}(document, 'script', 'twitter-wjs');</script>

12/04/2017 05:20 PM
Comment on MoveP (Process Move – Circular Move) by Konecki a
Hi, Yes there is enought physical space because the tool is long and very thin. The end of the tool go down on the bottle and the "body" of the tool have to stay on the middle of the neck. In fact, all of the points are calculated based on a point located at the top end of the bottle. So, we can do some rotation from this point. Sorry if it's not really clear but it's hard to explain without picture. Thanks

12/04/2017 05:14 PM
Comment on Preface Universal-Robots CB2 Forum: by marius
Hello, We have a demo robot UR 3 and we are plenty engineers which made some tests on the robot. Unfortunately someone added a sensor to play with it and try it but on the safety inputs. They added also a password and lock it, we made an investigation but it seems is not possible to find out the password anymore in order to unlock it. Is there any way to remove that password or to replace it somehow , considering is just a demo robot ? If yes, what is the procedure or what we should do in this case ?

12/04/2017 10:45 AM
Comment on UR Script: by Arunava Nag
Hello, I am trying to use the ursim 3.x.x version. I have tried 3.3.3 , 4 and 5. I am getting the same issue in all of them. I downloaded the linux version of it. I am following the directions as given in the download page https://www.universal-robots.com/download/?option=. But when i launch the start-ursim.sh script i am thrown with bunch of warnings and error and the script never launches: <code> :~/ur/ursim-3.3.4$ . start-ursim.sh URControl: no process found ~/ur/ursim-3.3.4/GUI ~/ur/ursim-3.3.4 ~/ur/ursim-3.3.4 ERROR: Bundle commons-httpclient.commons-httpclient [10] Error starting reference:file:bundle/commons-httpclient-3.1.0.0.jar (org.osgi.framework.BundleException: Unable to resolve commons-httpclient.commons-httpclient [10](R 10.0): missing requirement [commons-httpclient.commons-httpclient [10](R 10.0)] osgi.wiring.package; (osgi.wiring.package=javax.crypto) Unresolved requirements: [[commons-httpclient.commons-httpclient [10](R 10.0)] osgi.wiring.package; (osgi.wiring.package=javax.crypto)]) org.osgi.framework.BundleException: Unable to resolve commons-httpclient.commons-httpclient [10](R 10.0): missing requirement [commons-httpclient.commons-httpclient [10](R 10.0)] osgi.wiring.package; (osgi.wiring.package=javax.crypto) Unresolved requirements: [[commons-httpclient.commons-httpclient [10](R 10.0)] osgi.wiring.package; (osgi.wiring.package=javax.crypto)] at org.apache.felix.framework.Felix.resolveBundleRevision(Felix.java:4114) at org.apache.felix.framework.Felix.startBundle(Felix.java:2111) at org.apache.felix.framework.Felix.setActiveStartLevel(Felix.java:1365) at org.apache.felix.framework.FrameworkStartLevelImpl.run(FrameworkStartLevelImpl.java:308) at java.lang.Thread.run(java.base@9-internal/Thread.java:804) ERROR: Bundle com.ur.urcap.conveyortracking [16] Error starting reference:file:bundle/conveyortracking-1.0-SNAPSHOT.jar (org.osgi.framework.BundleException: Unable to resolve com.ur.urcap.conveyortracking [16](R 16.0): missing requirement [com.ur.urcap.conveyortracking [16](R 16.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.lang.resources) [caused by: Unable to resolve com.ur.polyscope.lang [39](R 39.0): missing requirement [com.ur.polyscope.lang [39](R 39.0)] osgi.wiring.package; (osgi.wiring.package=com.google.inject.binder) [caused by: Unable to resolve com.google.inject [26](R 26.0): missing requirement [com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0)))]] Unresolved requirements: [[com.ur.urcap.conveyortracking [16](R 16.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.lang.resources)]) org.osgi.framework.BundleException: Unable to resolve com.ur.urcap.conveyortracking [16](R 16.0): missing requirement [com.ur.urcap.conveyortracking [16](R 16.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.lang.resources) [caused by: Unable to resolve com.ur.polyscope.lang [39](R 39.0): missing requirement [com.ur.polyscope.lang [39](R 39.0)] osgi.wiring.package; (osgi.wiring.package=com.google.inject.binder) [caused by: Unable to resolve com.google.inject [26](R 26.0): missing requirement [com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0)))]] Unresolved requirements: [[com.ur.urcap.conveyortracking [16](R 16.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.lang.resources)] at org.apache.felix.framework.Felix.resolveBundleRevision(Felix.java:4114) at org.apache.felix.framework.Felix.startBundle(Felix.java:2111) at org.apache.felix.framework.Felix.setActiveStartLevel(Felix.java:1365) at org.apache.felix.framework.FrameworkStartLevelImpl.run(FrameworkStartLevelImpl.java:308) at java.lang.Thread.run(java.base@9-internal/Thread.java:804) ERROR: Bundle com.ur.polyscope.dashboardserver [18] Error starting reference:file:bundle/dashboardserver-1.0-SNAPSHOT.jar (org.osgi.framework.BundleException: Unable to resolve com.ur.polyscope.dashboardserver [18](R 18.0): missing requirement [com.ur.polyscope.dashboardserver [18](R 18.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.domain.security) [caused by: Unable to resolve com.ur.polyscope.domain [19](R 19.0): missing requirement [com.ur.polyscope.domain [19](R 19.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.lang) [caused by: Unable to resolve com.ur.polyscope.lang [39](R 39.0): missing requirement [com.ur.polyscope.lang [39](R 39.0)] osgi.wiring.package; (osgi.wiring.package=com.google.inject) [caused by: Unable to resolve com.google.inject [26](R 26.0): missing requirement [com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0)))]]] Unresolved requirements: [[com.ur.polyscope.dashboardserver [18](R 18.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.domain.security)]) org.osgi.framework.BundleException: Unable to resolve com.ur.polyscope.dashboardserver [18](R 18.0): missing requirement [com.ur.polyscope.dashboardserver [18](R 18.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.domain.security) [caused by: Unable to resolve com.ur.polyscope.domain [19](R 19.0): missing requirement [com.ur.polyscope.domain [19](R 19.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.lang) [caused by: Unable to resolve com.ur.polyscope.lang [39](R 39.0): missing requirement [com.ur.polyscope.lang [39](R 39.0)] osgi.wiring.package; (osgi.wiring.package=com.google.inject) [caused by: Unable to resolve com.google.inject [26](R 26.0): missing requirement [com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0)))]]] Unresolved requirements: [[com.ur.polyscope.dashboardserver [18](R 18.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.domain.security)] at org.apache.felix.framework.Felix.resolveBundleRevision(Felix.java:4114) at org.apache.felix.framework.Felix.startBundle(Felix.java:2111) at org.apache.felix.framework.Felix.setActiveStartLevel(Felix.java:1365) at org.apache.felix.framework.FrameworkStartLevelImpl.run(FrameworkStartLevelImpl.java:308) at java.lang.Thread.run(java.base@9-internal/Thread.java:804) ERROR: Bundle com.ur.polyscope.domain [19] Error starting reference:file:bundle/domain-1.0-SNAPSHOT.jar (org.osgi.framework.BundleException: Unable to resolve com.ur.polyscope.domain [19](R 19.0): missing requirement [com.ur.polyscope.domain [19](R 19.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.lang) [caused by: Unable to resolve com.ur.polyscope.lang [39](R 39.0): missing requirement [com.ur.polyscope.lang [39](R 39.0)] osgi.wiring.package; (osgi.wiring.package=com.google.inject) [caused by: Unable to resolve com.google.inject [26](R 26.0): missing requirement [com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0)))]] Unresolved requirements: [[com.ur.polyscope.domain [19](R 19.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.lang)]) org.osgi.framework.BundleException: Unable to resolve com.ur.polyscope.domain [19](R 19.0): missing requirement [com.ur.polyscope.domain [19](R 19.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.lang) [caused by: Unable to resolve com.ur.polyscope.lang [39](R 39.0): missing requirement [com.ur.polyscope.lang [39](R 39.0)] osgi.wiring.package; (osgi.wiring.package=com.google.inject) [caused by: Unable to resolve com.google.inject [26](R 26.0): missing requirement [com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0)))]] Unresolved requirements: [[com.ur.polyscope.domain [19](R 19.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.lang)] at org.apache.felix.framework.Felix.resolveBundleRevision(Felix.java:4114) at org.apache.felix.framework.Felix.startBundle(Felix.java:2111) at org.apache.felix.framework.Felix.setActiveStartLevel(Felix.java:1365) at org.apache.felix.framework.FrameworkStartLevelImpl.run(FrameworkStartLevelImpl.java:308) at java.lang.Thread.run(java.base@9-internal/Thread.java:804) ERROR: Bundle com.ur.urcap.ethernetip [20] Error starting reference:file:bundle/ethernetip-1.0-SNAPSHOT.jar (org.osgi.framework.BundleException: Unable to resolve com.ur.urcap.ethernetip [20](R 20.0): missing requirement [com.ur.urcap.ethernetip [20](R 20.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.util.logging) [caused by: Unable to resolve com.ur.polyscope.lang [39](R 39.0): missing requirement [com.ur.polyscope.lang [39](R 39.0)] osgi.wiring.package; (osgi.wiring.package=com.google.inject.binder) [caused by: Unable to resolve com.google.inject [26](R 26.0): missing requirement [com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0)))]] Unresolved requirements: [[com.ur.urcap.ethernetip [20](R 20.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.util.logging)]) org.osgi.framework.BundleException: Unable to resolve com.ur.urcap.ethernetip [20](R 20.0): missing requirement [com.ur.urcap.ethernetip [20](R 20.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.util.logging) [caused by: Unable to resolve com.ur.polyscope.lang [39](R 39.0): missing requirement [com.ur.polyscope.lang [39](R 39.0)] osgi.wiring.package; (osgi.wiring.package=com.google.inject.binder) [caused by: Unable to resolve com.google.inject [26](R 26.0): missing requirement [com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0)))]] Unresolved requirements: [[com.ur.urcap.ethernetip [20](R 20.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.util.logging)] at org.apache.felix.framework.Felix.resolveBundleRevision(Felix.java:4114) at org.apache.felix.framework.Felix.startBundle(Felix.java:2111) at org.apache.felix.framework.Felix.setActiveStartLevel(Felix.java:1365) at org.apache.felix.framework.FrameworkStartLevelImpl.run(FrameworkStartLevelImpl.java:308) at java.lang.Thread.run(java.base@9-internal/Thread.java:804) ERROR: Bundle com.ur.polyscope.flightrecorder [22] Error starting reference:file:bundle/flightrecorder-1.0-SNAPSHOT.jar (org.osgi.framework.BundleException: Unable to resolve com.ur.polyscope.flightrecorder [22](R 22.0): missing requirement [com.ur.polyscope.flightrecorder [22](R 22.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.domain.event) [caused by: Unable to resolve com.ur.polyscope.domain [19](R 19.0): missing requirement [com.ur.polyscope.domain [19](R 19.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.lang) [caused by: Unable to resolve com.ur.polyscope.lang [39](R 39.0): missing requirement [com.ur.polyscope.lang [39](R 39.0)] osgi.wiring.package; (osgi.wiring.package=com.google.inject) [caused by: Unable to resolve com.google.inject [26](R 26.0): missing requirement [com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0)))]]] Unresolved requirements: [[com.ur.polyscope.flightrecorder [22](R 22.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.domain.event)]) org.osgi.framework.BundleException: Unable to resolve com.ur.polyscope.flightrecorder [22](R 22.0): missing requirement [com.ur.polyscope.flightrecorder [22](R 22.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.domain.event) [caused by: Unable to resolve com.ur.polyscope.domain [19](R 19.0): missing requirement [com.ur.polyscope.domain [19](R 19.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.lang) [caused by: Unable to resolve com.ur.polyscope.lang [39](R 39.0): missing requirement [com.ur.polyscope.lang [39](R 39.0)] osgi.wiring.package; (osgi.wiring.package=com.google.inject) [caused by: Unable to resolve com.google.inject [26](R 26.0): missing requirement [com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0)))]]] Unresolved requirements: [[com.ur.polyscope.flightrecorder [22](R 22.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.domain.event)] at org.apache.felix.framework.Felix.resolveBundleRevision(Felix.java:4114) at org.apache.felix.framework.Felix.startBundle(Felix.java:2111) at org.apache.felix.framework.Felix.setActiveStartLevel(Felix.java:1365) at org.apache.felix.framework.FrameworkStartLevelImpl.run(FrameworkStartLevelImpl.java:308) at java.lang.Thread.run(java.base@9-internal/Thread.java:804) ERROR: Bundle com.ur.polyscope.g3 [24] Error starting reference:file:bundle/g3-1.0-SNAPSHOT.jar (org.osgi.framework.BundleException: Unable to resolve com.ur.polyscope.g3 [24](R 24.0): missing requirement [com.ur.polyscope.g3 [24](R 24.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.domain) [caused by: Unable to resolve com.ur.polyscope.domain [19](R 19.0): missing requirement [com.ur.polyscope.domain [19](R 19.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.lang) [caused by: Unable to resolve com.ur.polyscope.lang [39](R 39.0): missing requirement [com.ur.polyscope.lang [39](R 39.0)] osgi.wiring.package; (osgi.wiring.package=com.google.inject) [caused by: Unable to resolve com.google.inject [26](R 26.0): missing requirement [com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0)))]]] Unresolved requirements: [[com.ur.polyscope.g3 [24](R 24.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.domain)]) org.osgi.framework.BundleException: Unable to resolve com.ur.polyscope.g3 [24](R 24.0): missing requirement [com.ur.polyscope.g3 [24](R 24.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.domain) [caused by: Unable to resolve com.ur.polyscope.domain [19](R 19.0): missing requirement [com.ur.polyscope.domain [19](R 19.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.lang) [caused by: Unable to resolve com.ur.polyscope.lang [39](R 39.0): missing requirement [com.ur.polyscope.lang [39](R 39.0)] osgi.wiring.package; (osgi.wiring.package=com.google.inject) [caused by: Unable to resolve com.google.inject [26](R 26.0): missing requirement [com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0)))]]] Unresolved requirements: [[com.ur.polyscope.g3 [24](R 24.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.domain)] at org.apache.felix.framework.Felix.resolveBundleRevision(Felix.java:4114) at org.apache.felix.framework.Felix.startBundle(Felix.java:2111) at org.apache.felix.framework.Felix.setActiveStartLevel(Felix.java:1365) at org.apache.felix.framework.FrameworkStartLevelImpl.run(FrameworkStartLevelImpl.java:308) at java.lang.Thread.run(java.base@9-internal/Thread.java:804) ERROR: Bundle com.google.gson [25] Error starting reference:file:bundle/gson-2.5.jar (org.osgi.framework.BundleException: Unable to resolve com.google.gson [25](R 25.0): missing requirement [com.google.gson [25](R 25.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0))(&(osgi.ee=JavaSE)(version=1.7.0))(&(osgi.ee=JavaSE)(version=1.8.0))) Unresolved requirements: [[com.google.gson [25](R 25.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0))(&(osgi.ee=JavaSE)(version=1.7.0))(&(osgi.ee=JavaSE)(version=1.8.0)))]) org.osgi.framework.BundleException: Unable to resolve com.google.gson [25](R 25.0): missing requirement [com.google.gson [25](R 25.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0))(&(osgi.ee=JavaSE)(version=1.7.0))(&(osgi.ee=JavaSE)(version=1.8.0))) Unresolved requirements: [[com.google.gson [25](R 25.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0))(&(osgi.ee=JavaSE)(version=1.7.0))(&(osgi.ee=JavaSE)(version=1.8.0)))] at org.apache.felix.framework.Felix.resolveBundleRevision(Felix.java:4114) at org.apache.felix.framework.Felix.startBundle(Felix.java:2111) at org.apache.felix.framework.Felix.setActiveStartLevel(Felix.java:1365) at org.apache.felix.framework.FrameworkStartLevelImpl.run(FrameworkStartLevelImpl.java:308) at java.lang.Thread.run(java.base@9-internal/Thread.java:804) ERROR: Bundle com.google.inject [26] Error starting reference:file:bundle/guice-3.0.jar (org.osgi.framework.BundleException: Unable to resolve com.google.inject [26](R 26.0): missing requirement [com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0))) Unresolved requirements: [[com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0)))]) org.osgi.framework.BundleException: Unable to resolve com.google.inject [26](R 26.0): missing requirement [com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0))) Unresolved requirements: [[com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0)))] at org.apache.felix.framework.Felix.resolveBundleRevision(Felix.java:4114) at org.apache.felix.framework.Felix.startBundle(Felix.java:2111) at org.apache.felix.framework.Felix.setActiveStartLevel(Felix.java:1365) at org.apache.felix.framework.FrameworkStartLevelImpl.run(FrameworkStartLevelImpl.java:308) at java.lang.Thread.run(java.base@9-internal/Thread.java:804) ERROR: Bundle com.ur.polyscope.lang [39] Error starting reference:file:bundle/lang-1.0-SNAPSHOT.jar (org.osgi.framework.BundleException: Unable to resolve com.ur.polyscope.lang [39](R 39.0): missing requirement [com.ur.polyscope.lang [39](R 39.0)] osgi.wiring.package; (osgi.wiring.package=com.google.inject.binder) [caused by: Unable to resolve com.google.inject [26](R 26.0): missing requirement [com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0)))] Unresolved requirements: [[com.ur.polyscope.lang [39](R 39.0)] osgi.wiring.package; (osgi.wiring.package=com.google.inject.binder)]) org.osgi.framework.BundleException: Unable to resolve com.ur.polyscope.lang [39](R 39.0): missing requirement [com.ur.polyscope.lang [39](R 39.0)] osgi.wiring.package; (osgi.wiring.package=com.google.inject.binder) [caused by: Unable to resolve com.google.inject [26](R 26.0): missing requirement [com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0)))] Unresolved requirements: [[com.ur.polyscope.lang [39](R 39.0)] osgi.wiring.package; (osgi.wiring.package=com.google.inject.binder)] at org.apache.felix.framework.Felix.resolveBundleRevision(Felix.java:4114) at org.apache.felix.framework.Felix.startBundle(Felix.java:2111) at org.apache.felix.framework.Felix.setActiveStartLevel(Felix.java:1365) at org.apache.felix.framework.FrameworkStartLevelImpl.run(FrameworkStartLevelImpl.java:308) at java.lang.Thread.run(java.base@9-internal/Thread.java:804) ERROR: Bundle com.ur.urcap.profinet [46] Error starting reference:file:bundle/profinet-1.0-SNAPSHOT.jar (org.osgi.framework.BundleException: Unable to resolve com.ur.urcap.profinet [46](R 46.0): missing requirement [com.ur.urcap.profinet [46](R 46.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.util.logging) [caused by: Unable to resolve com.ur.polyscope.lang [39](R 39.0): missing requirement [com.ur.polyscope.lang [39](R 39.0)] osgi.wiring.package; (osgi.wiring.package=com.google.inject.binder) [caused by: Unable to resolve com.google.inject [26](R 26.0): missing requirement [com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0)))]] Unresolved requirements: [[com.ur.urcap.profinet [46](R 46.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.util.logging)]) org.osgi.framework.BundleException: Unable to resolve com.ur.urcap.profinet [46](R 46.0): missing requirement [com.ur.urcap.profinet [46](R 46.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.util.logging) [caused by: Unable to resolve com.ur.polyscope.lang [39](R 39.0): missing requirement [com.ur.polyscope.lang [39](R 39.0)] osgi.wiring.package; (osgi.wiring.package=com.google.inject.binder) [caused by: Unable to resolve com.google.inject [26](R 26.0): missing requirement [com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0)))]] Unresolved requirements: [[com.ur.urcap.profinet [46](R 46.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.util.logging)] at org.apache.felix.framework.Felix.resolveBundleRevision(Felix.java:4114) at org.apache.felix.framework.Felix.startBundle(Felix.java:2111) at org.apache.felix.framework.Felix.setActiveStartLevel(Felix.java:1365) at org.apache.felix.framework.FrameworkStartLevelImpl.run(FrameworkStartLevelImpl.java:308) at java.lang.Thread.run(java.base@9-internal/Thread.java:804) ERROR: Bundle com.ur.polyscope.safety [48] Error starting reference:file:bundle/safety-1.0-SNAPSHOT.jar (org.osgi.framework.BundleException: Unable to resolve com.ur.polyscope.safety [48](R 48.0): missing requirement [com.ur.polyscope.safety [48](R 48.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.domain) [caused by: Unable to resolve com.ur.polyscope.domain [19](R 19.0): missing requirement [com.ur.polyscope.domain [19](R 19.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.lang) [caused by: Unable to resolve com.ur.polyscope.lang [39](R 39.0): missing requirement [com.ur.polyscope.lang [39](R 39.0)] osgi.wiring.package; (osgi.wiring.package=com.google.inject.binder) [caused by: Unable to resolve com.google.inject [26](R 26.0): missing requirement [com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0)))]]] Unresolved requirements: [[com.ur.polyscope.safety [48](R 48.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.domain)]) org.osgi.framework.BundleException: Unable to resolve com.ur.polyscope.safety [48](R 48.0): missing requirement [com.ur.polyscope.safety [48](R 48.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.domain) [caused by: Unable to resolve com.ur.polyscope.domain [19](R 19.0): missing requirement [com.ur.polyscope.domain [19](R 19.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.lang) [caused by: Unable to resolve com.ur.polyscope.lang [39](R 39.0): missing requirement [com.ur.polyscope.lang [39](R 39.0)] osgi.wiring.package; (osgi.wiring.package=com.google.inject.binder) [caused by: Unable to resolve com.google.inject [26](R 26.0): missing requirement [com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0)))]]] Unresolved requirements: [[com.ur.polyscope.safety [48](R 48.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.domain)] at org.apache.felix.framework.Felix.resolveBundleRevision(Felix.java:4114) at org.apache.felix.framework.Felix.startBundle(Felix.java:2111) at org.apache.felix.framework.Felix.setActiveStartLevel(Felix.java:1365) at org.apache.felix.framework.FrameworkStartLevelImpl.run(FrameworkStartLevelImpl.java:308) at java.lang.Thread.run(java.base@9-internal/Thread.java:804) ERROR: Bundle net.jodah.typetools [52] Error starting reference:file:bundle/typetools-0.4.3.jar (org.osgi.framework.BundleException: Unable to resolve net.jodah.typetools [52](R 52.0): missing requirement [net.jodah.typetools [52](R 52.0)] osgi.ee; (&(osgi.ee=JavaSE)(version=1.6)) Unresolved requirements: [[net.jodah.typetools [52](R 52.0)] osgi.ee; (&(osgi.ee=JavaSE)(version=1.6))]) org.osgi.framework.BundleException: Unable to resolve net.jodah.typetools [52](R 52.0): missing requirement [net.jodah.typetools [52](R 52.0)] osgi.ee; (&(osgi.ee=JavaSE)(version=1.6)) Unresolved requirements: [[net.jodah.typetools [52](R 52.0)] osgi.ee; (&(osgi.ee=JavaSE)(version=1.6))] at org.apache.felix.framework.Felix.resolveBundleRevision(Felix.java:4114) at org.apache.felix.framework.Felix.startBundle(Felix.java:2111) at org.apache.felix.framework.Felix.setActiveStartLevel(Felix.java:1365) at org.apache.felix.framework.FrameworkStartLevelImpl.run(FrameworkStartLevelImpl.java:308) at java.lang.Thread.run(java.base@9-internal/Thread.java:804) ERROR: Bundle com.ur.polyscope.urcap [53] Error starting reference:file:bundle/urcap-1.0-SNAPSHOT.jar (org.osgi.framework.BundleException: Unable to resolve com.ur.polyscope.urcap [53](R 53.0): missing requirement [com.ur.polyscope.urcap [53](R 53.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.domain.io) [caused by: Unable to resolve com.ur.polyscope.domain [19](R 19.0): missing requirement [com.ur.polyscope.domain [19](R 19.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.injection) [caused by: Unable to resolve com.ur.polyscope.lang [39](R 39.0): missing requirement [com.ur.polyscope.lang [39](R 39.0)] osgi.wiring.package; (osgi.wiring.package=com.google.inject) [caused by: Unable to resolve com.google.inject [26](R 26.0): missing requirement [com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0)))]]] Unresolved requirements: [[com.ur.polyscope.urcap [53](R 53.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.domain.io)]) org.osgi.framework.BundleException: Unable to resolve com.ur.polyscope.urcap [53](R 53.0): missing requirement [com.ur.polyscope.urcap [53](R 53.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.domain.io) [caused by: Unable to resolve com.ur.polyscope.domain [19](R 19.0): missing requirement [com.ur.polyscope.domain [19](R 19.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.injection) [caused by: Unable to resolve com.ur.polyscope.lang [39](R 39.0): missing requirement [com.ur.polyscope.lang [39](R 39.0)] osgi.wiring.package; (osgi.wiring.package=com.google.inject) [caused by: Unable to resolve com.google.inject [26](R 26.0): missing requirement [com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0)))]]] Unresolved requirements: [[com.ur.polyscope.urcap [53](R 53.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.domain.io)] at org.apache.felix.framework.Felix.resolveBundleRevision(Felix.java:4114) at org.apache.felix.framework.Felix.startBundle(Felix.java:2111) at org.apache.felix.framework.Felix.setActiveStartLevel(Felix.java:1365) at org.apache.felix.framework.FrameworkStartLevelImpl.run(FrameworkStartLevelImpl.java:308) at java.lang.Thread.run(java.base@9-internal/Thread.java:804) ERROR: Bundle com.ur.polyscope.view [55] Error starting reference:file:bundle/view-1.0-SNAPSHOT.jar (org.osgi.framework.BundleException: Unable to resolve com.ur.polyscope.view [55](R 55.0): missing requirement [com.ur.polyscope.view [55](R 55.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.domain.event) [caused by: Unable to resolve com.ur.polyscope.domain [19](R 19.0): missing requirement [com.ur.polyscope.domain [19](R 19.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.injection) [caused by: Unable to resolve com.ur.polyscope.lang [39](R 39.0): missing requirement [com.ur.polyscope.lang [39](R 39.0)] osgi.wiring.package; (osgi.wiring.package=com.google.inject) [caused by: Unable to resolve com.google.inject [26](R 26.0): missing requirement [com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0)))]]] Unresolved requirements: [[com.ur.polyscope.view [55](R 55.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.domain.event)]) org.osgi.framework.BundleException: Unable to resolve com.ur.polyscope.view [55](R 55.0): missing requirement [com.ur.polyscope.view [55](R 55.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.domain.event) [caused by: Unable to resolve com.ur.polyscope.domain [19](R 19.0): missing requirement [com.ur.polyscope.domain [19](R 19.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.injection) [caused by: Unable to resolve com.ur.polyscope.lang [39](R 39.0): missing requirement [com.ur.polyscope.lang [39](R 39.0)] osgi.wiring.package; (osgi.wiring.package=com.google.inject) [caused by: Unable to resolve com.google.inject [26](R 26.0): missing requirement [com.google.inject [26](R 26.0)] osgi.ee; (|(&(osgi.ee=JavaSE)(version=1.5.0))(&(osgi.ee=JavaSE)(version=1.6.0)))]]] Unresolved requirements: [[com.ur.polyscope.view [55](R 55.0)] osgi.wiring.package; (osgi.wiring.package=com.ur.domain.event)] at org.apache.felix.framework.Felix.resolveBundleRevision(Felix.java:4114) at org.apache.felix.framework.Felix.startBundle(Felix.java:2111) at org.apache.felix.framework.Felix.setActiveStartLevel(Felix.java:1365) at org.apache.felix.framework.FrameworkStartLevelImpl.run(FrameworkStartLevelImpl.java:308) at java.lang.Thread.run(java.base@9-internal/Thread.java:804) ERROR: Bundle org.apache.ws.commons.util.ws-commons-util [56] Error starting reference:file:bundle/ws-commons-util-1.0.2.0.jar (org.osgi.framework.BundleException: Unable to resolve org.apache.ws.commons.util.ws-commons-util [56](R 56.0): missing requirement [org.apache.ws.commons.util.ws-commons-util [56](R 56.0)] osgi.wiring.package; (osgi.wiring.package=javax.xml.namespace) Unresolved requirements: [[org.apache.ws.commons.util.ws-commons-util [56](R 56.0)] osgi.wiring.package; (osgi.wiring.package=javax.xml.namespace)]) org.osgi.framework.BundleException: Unable to resolve org.apache.ws.commons.util.ws-commons-util [56](R 56.0): missing requirement [org.apache.ws.commons.util.ws-commons-util [56](R 56.0)] osgi.wiring.package; (osgi.wiring.package=javax.xml.namespace) Unresolved requirements: [[org.apache.ws.commons.util.ws-commons-util [56](R 56.0)] osgi.wiring.package; (osgi.wiring.package=javax.xml.namespace)] at org.apache.felix.framework.Felix.resolveBundleRevision(Felix.java:4114) at org.apache.felix.framework.Felix.startBundle(Felix.java:2111) at org.apache.felix.framework.Felix.setActiveStartLevel(Felix.java:1365) at org.apache.felix.framework.FrameworkStartLevelImpl.run(FrameworkStartLevelImpl.java:308) at java.lang.Thread.run(java.base@9-internal/Thread.java:804) ERROR: Bundle org.apache.xmlrpc.xmlrpc-client [57] Error starting reference:file:bundle/xmlrpc-client-3.1.3.0.jar (org.osgi.framework.BundleException: Unable to resolve org.apache.xmlrpc.xmlrpc-client [57](R 57.0): missing requirement [org.apache.xmlrpc.xmlrpc-client [57](R 57.0)] osgi.wiring.package; (osgi.wiring.package=javax.net) Unresolved requirements: [[org.apache.xmlrpc.xmlrpc-client [57](R 57.0)] osgi.wiring.package; (osgi.wiring.package=javax.net)]) org.osgi.framework.BundleException: Unable to resolve org.apache.xmlrpc.xmlrpc-client [57](R 57.0): missing requirement [org.apache.xmlrpc.xmlrpc-client [57](R 57.0)] osgi.wiring.package; (osgi.wiring.package=javax.net) Unresolved requirements: [[org.apache.xmlrpc.xmlrpc-client [57](R 57.0)] osgi.wiring.package; (osgi.wiring.package=javax.net)] at org.apache.felix.framework.Felix.resolveBundleRevision(Felix.java:4114) at org.apache.felix.framework.Felix.startBundle(Felix.java:2111) at org.apache.felix.framework.Felix.setActiveStartLevel(Felix.java:1365) at org.apache.felix.framework.FrameworkStartLevelImpl.run(FrameworkStartLevelImpl.java:308) at java.lang.Thread.run(java.base@9-internal/Thread.java:804) ERROR: Bundle org.apache.xmlrpc.xmlrpc-common [58] Error starting reference:file:bundle/xmlrpc-common-3.1.3.0.jar (org.osgi.framework.BundleException: Unable to resolve org.apache.xmlrpc.xmlrpc-common [58](R 58.0): missing requirement [org.apache.xmlrpc.xmlrpc-common [58](R 58.0)] osgi.wiring.package; (osgi.wiring.package=javax.xml.bind) Unresolved requirements: [[org.apache.xmlrpc.xmlrpc-common [58](R 58.0)] osgi.wiring.package; (osgi.wiring.package=javax.xml.bind)]) org.osgi.framework.BundleException: Unable to resolve org.apache.xmlrpc.xmlrpc-common [58](R 58.0): missing requirement [org.apache.xmlrpc.xmlrpc-common [58](R 58.0)] osgi.wiring.package; (osgi.wiring.package=javax.xml.bind) Unresolved requirements: [[org.apache.xmlrpc.xmlrpc-common [58](R 58.0)] osgi.wiring.package; (osgi.wiring.package=javax.xml.bind)] at org.apache.felix.framework.Felix.resolveBundleRevision(Felix.java:4114) at org.apache.felix.framework.Felix.startBundle(Felix.java:2111) at org.apache.felix.framework.Felix.setActiveStartLevel(Felix.java:1365) at org.apache.felix.framework.FrameworkStartLevelImpl.run(FrameworkStartLevelImpl.java:308) at java.lang.Thread.run(java.base@9-internal/Thread.java:804) </code>

12/03/2017 06:57 PM
Comment on MoveP (Process Move – Circular Move) by zacopressadmin
Hi Konecki Thanks for the question. Is there enough physical space to draw a circle for the robot to make the move inside the bottle ? Author: <a href="https://plus.google.com/u/0/116832821661215606670?rel=author" rel="nofollow">By Zacobria Lars Skovsgaard</a> Accredited Universal Robots support Centre and Forum. <br /> <br /> <a href="http://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/" rel="nofollow">Also check out the CB3 forum</a> <div class="fb-like" data-href="http://www.zacobria.com" data-send="false" data-layout="button_count" data-width="450" data-show-faces="false" data-font="arial" data-action="recommend"></div> <div class="fb-share-button" data-href="https://zacobria.com" data-layout="button_count"></div> <br /> <script type="IN/Share" data-counter="right" data-onsuccess="LinkedInShare"></script> <div class="g-follow" data-annotation="bubble" data-height="20" data-href="https://plus.google.com/116832821661215606670" data-rel="author"></div> <div class="g-plusone" data-size="medium" data-annotation="bubble" data-width="300"></div> <div class="g-plus" data-action="share" data-annotation="bubble"></div> <a href="https://twitter.com/share" class="twitter-share-button" data-url="http://www.zacobria.com" data-via="zacobria" rel="nofollow">Tweet</a> <script>!function(d,s,id){var js,fjs=d.getElementsByTagName(s)[0],p=/^http:/.test(d.location)?'http':'https';if(!d.getElementById(id)){js=d.createElement(s);js.id=id;js.src=p+'://platform.twitter.com/widgets.js';fjs.parentNode.insertBefore(js,fjs);}}(document, 'script', 'twitter-wjs');</script> <a href="https://twitter.com/zacobria" class="twitter-follow-button" data-show-count="true" rel="nofollow">Follow @zacobria</a> <script>!function(d,s,id){var js,fjs=d.getElementsByTagName(s)[0],p=/^http:/.test(d.location)?'http':'https';if(!d.getElementById(id)){js=d.createElement(s);js.id=id;js.src=p+'://platform.twitter.com/widgets.js';fjs.parentNode.insertBefore(js,fjs);}}(document, 'script', 'twitter-wjs');</script>

12/01/2017 01:24 AM
Comment on MoveP (Process Move – Circular Move) by Konecki a
HI, I'm traing to draw a perfect circle inside a bottle but i have a probleme with TCP's orientation. In fact, it's impossible to keep the same orientation because of the neck. I can easily draw a square inside by using Trans_pose(P_from,P_to) and trigonometric calculation but i don't know how i can do for a circle. If someone can help me, it will be really appreciated. Thanks