Polyscope refuses to start

Technical Questions
1

Today morning both our UR robots (UR5 and UR10) suddenly refused to start polyscope. Yesterday evening all was still fine.

any ideas?

polyscope.log

2025-02-20 09:44:53.177 WARN  - Not connected to controller, trying to send string: 
sec load_installation():
  set_tcp(p[0.0,0.0,0.0,0.0,0.0,0.0])
  set_standard_analog_input_domain(0, 0)
  set_standard_analog_input_domain(1, 0)
  set_tool_analog_input_domain(0, 1)
  set_tool_analog_input_domain(1, 1)
  set_analog_outputdomain(0, 0)
  set_analog_outputdomain(1, 0)
  set_input_actions_to_default()
  set_standard_digital_input_action(1, "freedrive")
  set_tool_communication(True, 115200, 0, 1, 1.5, 3.5)
  set_tool_output_mode(0)
  set_tool_digital_output_mode(0, 1)
  set_tool_digital_output_mode(1, 1)
  set_tool_voltage(24)
  set_target_payload(1.050000, [0.011000, 0.003000, 0.075000], [0.001670, 0.001670, 0.001670, 0.000000, 0.000000, 0.000000])
  set_gravity([0.0, 0.0, 9.82])
  set_safety_mode_transition_hardness(1)
end
 {thread: Thread-5 , loggerClass: com.ur.polyscope.controllerinterface.internal.ControllerSocket}
2025-02-20 09:46:04.319 WARN  - UI has been blocked
:     [AWT-EventQueue-0]
      java.lang.Thread.State: WAITING
        java.lang.Object.wait(Object.java:-2)
        java.lang.Object.wait(Object.java:502)
        java.lang.UNIXProcess.waitFor(UNIXProcess.java:395)
        com.ur.polyscope.security.impl.cybersecurity.service.impl.sw5.CommandInvoker.invokeURAdmin(CommandInvoker.java:61)
        com.ur.polyscope.security.impl.cybersecurity.service.impl.sw5.CommandInvoker.invokeURAdmin(CommandInvoker.java:42)
        com.ur.polyscope.security.impl.cybersecurity.service.impl.sw5.SecurityServiceImpl.invokeCommand(SecurityServiceImpl.java:34)
        com.ur.polyscope.security.impl.cybersecurity.service.impl.sw5.SecurityServiceImpl.getState(SecurityServiceImpl.java:39)
        com.ur.polyscope.security.impl.cybersecurity.service.impl.sw5.AbstractRepository.getState(AbstractRepository.java:35)
        com.ur.polyscope.security.impl.cybersecurity.service.impl.sw5.AccessModeRepositoryImpl.getState(AccessModeRepositoryImpl.java:18)
        com.ur.polyscope.security.impl.cybersecurity.service.impl.sw5.AccessModeRepositoryImpl.getControlMode(AccessModeRepositoryImpl.java:48)
        com.ur.polyscope.security.impl.cybersecurity.service.impl.sw5.AccessModeRepositoryImpl.isRemoteControlActive(AccessModeRepositoryImpl.java:35)
        com.ur.polyscope.security.impl.accessmode.impl.AccessModeServiceImpl.getAccessModeFromManager(AccessModeServiceImpl.java:129)
        com.ur.polyscope.security.impl.accessmode.impl.AccessModeServiceImpl.getAccessMode(AccessModeServiceImpl.java:45)
        com.ur.polyscope.safety.remotecontrol.impl.ControlModePrivilegeRestriction.isRestrictedIn(ControlModePrivilegeRestriction.java:21)
        com.ur.polyscope.security.CompositePrivilegeRestriction.isRestrictedIn(CompositePrivilegeRestriction.java:21)
        com.ur.polyscope.security.PrivilegeRestrictionStrategy.updateRestriction(PrivilegeRestrictionStrategy.java:44)
        com.ur.polyscope.security.PrivilegeRestrictionStrategy.register(PrivilegeRestrictionStrategy.java:26)
        com.ur.polyscope.security.PrivilegeRestrictionStrategy.update(PrivilegeRestrictionStrategy.java:31)
        com.ur.polyscope.security.Privileges.setPrivilege(Privileges.java:38)
        com.ur.g5.security.PrivilegesConfiguration.<init>(PrivilegesConfiguration.java:34)
        sun.reflect.NativeConstructorAccessorImpl.newInstance0(NativeConstructorAccessorImpl.java:-2)
        sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62)
        sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
        java.lang.reflect.Constructor.newInstance(Constructor.java:423)
        com.google.inject.internal.DefaultConstructionProxyFactory$ReflectiveProxy.newInstance(DefaultConstructionProxyFactory.java:120)
        com.google.inject.internal.ConstructorInjector.provision(ConstructorInjector.java:114)
        com.google.inject.internal.ConstructorInjector.construct(ConstructorInjector.java:91)
        com.google.inject.internal.ConstructorBindingImpl$Factory.get(ConstructorBindingImpl.java:300)
        com.google.inject.internal.InjectorImpl$1.get(InjectorImpl.java:1101)
        com.google.inject.internal.InjectorImpl.getInstance(InjectorImpl.java:1139)
        com.ur.injection.GuiceBuilder.get(GuiceBuilder.java:34)
        com.ur.g5.internal.impl.ServiceBinderImpl.load(ServiceBinderImpl.java:231)
        gui.main.URGUI$5.run(URGUI.java:397)
        gui.main.URGUI$BlockingTaskRunner$1.call(URGUI.java:545)
        gui.main.URGUI$BlockingTaskRunner$1.call(URGUI.java:1)
        java.util.concurrent.FutureTask.run(FutureTask.java:266)
        java.awt.event.InvocationEvent.dispatch(InvocationEvent.java:301)
        java.awt.EventQueue.dispatchEventImpl(EventQueue.java:756)
        java.awt.EventQueue.access$500(EventQueue.java:97)
        java.awt.EventQueue$3.run(EventQueue.java:709)
        java.awt.EventQueue$3.run(EventQueue.java:703)
        java.security.AccessController.doPrivileged(AccessController.java:-2)
        java.security.ProtectionDomain$JavaSecurityAccessImpl.doIntersectionPrivilege(ProtectionDomain.java:80)
        java.awt.EventQueue.dispatchEvent(EventQueue.java:726)
        java.awt.EventDispatchThread.pumpOneEventForFilters(EventDispatchThread.java:201)
        java.awt.EventDispatchThread.pumpEventsForFilter(EventDispatchThread.java:116)
        java.awt.EventDispatchThread.pumpEventsForHierarchy(EventDispatchThread.java:105)
        java.awt.EventDispatchThread.pumpEvents(EventDispatchThread.java:101)
        java.awt.EventDispatchThread.pumpEvents(EventDispatchThread.java:93)
        java.awt.EventDispatchThread.run(EventDispatchThread.java:82)
 {thread: Timer-3 , loggerClass: com.ur.polyscope.system.diagnostics.impl.ThreadedWatcher}
2025-02-20 09:47:42.522 WARN  - Not connected to controller, trying to send string: 
power off
 {thread: Thread-7 , loggerClass: com.ur.polyscope.controllerinterface.internal.ControllerSocket}
2

i also uninstalled all urcaps by deleting them on the filesystem. still no success in booting the robot.

3

here also a log of urcontrol (redirected output to a file):
2025-02-20_10:26:59:84031 00:00:00:000 INFO - Marketing Ver = 5.15.2
2025-02-20_10:26:59:84050 00:00:00:000 INFO - parseOpts(): The following ports will be used: Primary - 30001, Secondary - 30002, Interpreter - 30020, Matlab - 30003, RTDE - 30004, Primary_read_only - 30011, Secondary_read_only - 30012, Matlab_read_only - 30013.
URControl 67.15.29 G5 (19-02-2024, 09:59:16)
2025-02-20_10:26:59:91330 00:00:00:000 INFO - ConfigurationManager::loadConfiguration: Loading urcontrol.conf from: /root/.urcontrol/urcontrol.conf.
2025-02-20_10:26:59:91336 00:00:00:000 WARNING - Configuration property “resistance” not found in section “Energy Eater”; setting to default value: “0”
2025-02-20_10:26:59:91339 00:00:00:000 WARNING - Configuration property “avg_time” not found in section “Energy Eater”; setting to default value: “5”
2025-02-20_10:26:59:91341 00:00:00:000 WARNING - Configuration property “ramup_time” not found in section “Fan Control”; setting to default value: “1”
2025-02-20_10:26:59:91342 00:00:00:000 WARNING - Configuration property “ramdown_time” not found in section “Fan Control”; setting to default value: “50”
2025-02-20_10:26:59:98612 00:00:00:000 INFO - Safety Version 5:8
2025-02-20_10:26:59:98632 00:00:00:000 INFO - LLInterface::open: Opening interfaces
2025-02-20_10:26:59:98635 00:00:00:000 INFO - URbus was found
2025-02-20_10:26:59:98637 00:00:00:000 INFO - JointNetworkStatus::updateIgnoreJoint : Updating joint status
2025-02-20_10:27:00:00264 00:00:00:000 INFO - Loading calibration from ‘/root/.urcontrol/calibration.conf’
2025-02-20_10:27:00:01076 00:00:00:001 WARNING - Runtime is blocked, but runtime data queue is empty, trying to recover
2025-02-20_10:27:00:01081 00:00:00:002 INFO - LLInterface::open: Interfaces opened
2025-02-20_10:27:00:01105 00:00:00:002 INFO - LLInterface::open: Opening interfaces
2025-02-20_10:27:00:01110 00:00:00:002 INFO - LLInterface::open: Already open
2025-02-20_10:27:00:01113 00:00:00:002 INFO - LLInterface::restart: Rebooting Embedded Modules…
2025-02-20_10:27:00:23699 00:00:00:227 INFO - robot_mode changed from ROBOT_MODE_DISCONNECTED to ROBOT_MODE_BOOTING
2025-02-20_10:27:02:93866 00:00:02:934 INFO - Safety Version 5:8
2025-02-20_10:27:03:75437 00:00:03:750 INFO - robot_mode changed from ROBOT_MODE_BOOTING to ROBOT_MODE_DISCONNECTED
2025-02-20_10:27:03:76250 00:00:03:760 INFO - SCB::logSafetyModeChange: SafetyA safety mode limit state changed from UNKNOWN to NORMAL
2025-02-20_10:27:03:76256 00:00:03:760 INFO - SCB::logSafetyModeChange: SafetyB safety mode limit state changed from UNKNOWN to NORMAL
2025-02-20_10:27:03:81100 00:00:03:810 INFO - SCB::logScbStateChange: SafetyB main state changed from UNKNOWN to INITIALIZING
2025-02-20_10:27:04:31192 00:00:04:313 INFO - SCB::logScbStateChange: SafetyA main state changed from UNKNOWN to INITIALIZING
2025-02-20_10:27:04:60245 00:00:04:601 INFO - TP::update: TP state changed from SELF_DIAGNOSTIC to BOOTING
2025-02-20_10:27:04:60250 00:00:04:601 INFO - IMMI::update: DeviceMode A state changed from UNDEFINED to NOT_RESPONDING
2025-02-20_10:27:04:60253 00:00:04:601 INFO - IMMI::update: DeviceMode B state changed from UNDEFINED to NOT_RESPONDING
2025-02-20_10:27:04:60255 00:00:04:601 INFO - robot_mode changed from ROBOT_MODE_DISCONNECTED to ROBOT_MODE_CONFIRM_SAFETY
2025-02-20_10:27:04:60257 00:00:04:601 INFO - SCBMode changed from SCB_MODE_DISCONNECTED to SCB_MODE_INITIALIZING
2025-02-20_10:27:04:60258 00:00:04:601 INFO - LLInterface::restart: Reboot of Embedded Modules succeeded.

4

after installing a brand new 5.21 image on one of the robot it boots again and seems to be fine. still very suspicious. there was nothing changed on the robot configuration in the past days. still the image was suddenly broken on both robots at the same time.

5

i created backups of both sdcard images. just in case someone wants to analyse this problem.