Hi,
Sometimes we get C204A7 error randomly while running a robot program in URSim simulator (Polyscope version 5.12.4)
In the Log window there is a warning for each joint:
Also in URControl.log there are warnings about unrealistic torque levels:
2022-10-07_13:37:37:00216 00:21:56:174 WARNING - checkForPositionAndVelocityInconsistency
2022-10-07_13:37:37:00220 00:21:56:174 WARNING - Target torque level exceeds limit (Joint: 0) while executing program line 23 (script line 3821). Target=-2690.264490 N*m. Limit=330.000000 N*m
2022-10-07_13:37:37:00221 00:21:56:174 WARNING - Target torque level exceeds limit (Joint: 1) while executing program line 23 (script line 3821). Target=452.814209 N*m. Limit=330.000000 N*m
2022-10-07_13:37:37:00222 00:21:56:174 WARNING - Target torque level exceeds limit (Joint: 2) while executing program line 23 (script line 3821). Target=-2467.475776 N*m. Limit=150.000000 N*m
2022-10-07_13:37:37:00223 00:21:56:174 WARNING - Target torque level exceeds limit (Joint: 3) while executing program line 23 (script line 3821). Target=-199.063211 N*m. Limit=54.000000 N*m
2022-10-07_13:37:37:00223 00:21:56:174 WARNING - Target torque level exceeds limit (Joint: 4) while executing program line 23 (script line 3821). Target=-180.922914 N*m. Limit=54.000000 N*m
2022-10-07_13:37:37:00224 00:21:56:174 WARNING - Target torque level exceeds limit (Joint: 5) while executing program line 23 (script line 3821). Target=-65.784121 N*m. Limit=54.000000 N*m
2022-10-07_13:37:37:00225 00:21:56:176 ERROR - acceleration check failed , joint 2, qdd 443.453737, max 40.000000
2022-10-07_13:37:37:00226 00:21:56:176 ERROR - acceleration check failed , joint 3, qdd -294.526639, max 40.000000
2022-10-07_13:37:37:00227 00:21:56:176 ERROR - SanityErrorArgument: 7 ProgramStoppingOrStopped: 0 IsProgramControllingRobot: 1 Timescale: 1.000000
As the error occurs randomly, we suspect that it’s somehow related to the currently available CPU resources on the host computer that runs URSim: if the URControl process is not scheduled ‘real time’ by the operating system, some counters may overflow and calculated accelerations become unrealistic. Is this a known issue, and does a workaround exist, e.g. disabling the ‘acceleration check’ in the simulator or improve URSim performance?
Polyscope version is 5.12.4, running on Lubuntu 14.04 in VirtalBox