XMLRPC: Failed with error code: 500 RuntimeError: Found no active iteration

Error message as seen on Polyscope: 

You may encounter this error message in the middle of running a program. The robot will unexpected stop and throw the error message: XMLRPC: Failed with error code: 500: RuntimeError.

This is often happens with newly created skills, after a skill is successfully uploaded to the cloud, there are a few additional steps you must complete to properly configure the skill prior to uploading to the UR teach pendant.

On Polyscope, each time you run a new skill and select from menu of trained skill options, you will see a warning below that reads as follows: 

This skill has no active version, therefore no action will be triggered.

To resolve

1. Switch into remote mode and go back to the mirai training app
2. Select "Open" for the skill that is throwing the error
3. Click the "Test & Configure" button from the details tab.
4. To successfully configure a skill, you will need to set the conditions for the endstate (for more info check out this article: End State Parameters - How to Stop a Skill).
5. Once you are happy with the endstate configuration, select "set as active" from the bottom icon row. This will complete the skill setup and you can now re-connect the skill in polyscope.

To upload (re-connect) skills in polyscope:

1. Navigate to the "installation" at the top of the teach pendant screen
2. Along the side panel select URCaps at the bottom
3. Next click "Mirai Setup"
4. You will see a "Connect" button, click this to upload the latest data from the Mirai controller box into Polyscope.