external control error：within 0.002 seconds is exceeding the joint velocity limits

[Aruen24]

Feature summary

Velocity 54.112 required to reach the received target [-3641786652204.927734, -1140532155447.430664, 1166022624219.684814, 10909127314.458231, -64363636502.848495, -9701334695426.744141] within 0.002 seconds is exceeding the joint velocity limits

[urfeex]

Thank you for your report. Some context could be very helpful with this issue.

• What motion did you send to the robot with which controller?
• Did the program recover from this?
• What kind of ROS system do you use? -
  • Do you use a PREEMPT_RT patched kernel or lowlatency or standard kernel?
  • Do you run natively on a linux machine at all?
• What is the network connection to the robot?
  • Direct cable?
  • Switch involved?

[Aruen24]

@urfeex joint_trajectory_controller move to point A
ROS2 Humble Ubuntu 22.04
ur3e real robot LAN

[urfeex]

Could you try using the scaled_joint_trajectory_controller and post the exact trajectory message that is sent to the controller?

[bodkal]

I have the same problem.
It looks like it is trying to reach the last point in the trajectory in 0.002 seconds (1.8784, -3.1874, -0.8803, -0.6447, 1.5708, 0.3076)."

im using ur20 with the sim docker and ROS2 Humble Ubuntu 22.04 standard kernel.

controllers:

picko_koby@pickokoby:~$ ros2 control list_controllers
scaled_joint_trajectory_controller ur_controllers/ScaledJointTrajectoryController active
io_and_status_controller ur_controllers/GPIOController active
speed_scaling_state_broadcaster ur_controllers/SpeedScalingStateBroadcaster active
force_torque_sensor_broadcaster force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster active
ur_configuration_controller ur_controllers/URConfigurationController active
tcp_pose_broadcaster pose_broadcaster/PoseBroadcaster active
joint_state_broadcaster joint_state_broadcaster/JointStateBroadcaster active
forward_position_controller position_controllers/JointGroupPositionController inactive
force_mode_controller ur_controllers/ForceModeController inactive
freedrive_mode_controller ur_controllers/FreedriveModeController inactive
passthrough_trajectory_controller ur_controllers/PassthroughTrajectoryController inactive

this is the data in the trajectory msg:

trajectory.joint_trajectory.header.stamp.sec: 0
trajectory.joint_trajectory.header.stamp.nanosec: 0
trajectory.joint_trajectory.header.frame_id: world

current joints: 0.3169 -1.9647 -2.0930 -0.6548 1.5708 -2.8247

point: 0
positions: , 0.3169, -1.9647, -2.0930, -0.6548, 1.5708, -2.8247
velocities: , -0.0000, 0.0000, -0.0000, -0.0000, 0.0000, 0.0000
accelerations: , 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000
point: 1
positions: , 0.3147, -1.9633, -2.0933, -0.6558, 1.5708, -2.8197
velocities: , -0.0429, 0.0280, -0.0068, -0.0212, 0.0000, 0.1000
accelerations: , -0.4294, 0.2800, -0.0678, -0.2122, 0.0000, 1.0000
point: 2
positions: , 0.3083, -1.9591, -2.0943, -0.6590, 1.5708, -2.8047
velocities: , -0.0863, 0.0558, -0.0129, -0.0429, 0.0000, 0.2000
accelerations: , -0.4387, 0.2737, -0.0503, -0.2235, 0.0000, 1.0000
point: 3
positions: , 0.2974, -1.9521, -2.0958, -0.6645, 1.5708, -2.7797
velocities: , -0.1308, 0.0827, -0.0166, -0.0660, 0.0000, 0.3000
accelerations: , -0.4527, 0.2635, -0.0233, -0.2402, 0.0000, 1.0000
point: 4
positions: , 0.2821, -1.9426, -2.0975, -0.6723, 1.5708, -2.7447
velocities: , -0.1769, 0.1082, -0.0171, -0.0911, 0.0000, 0.4000
accelerations: , -0.4713, 0.2470, 0.0155, -0.2625, 0.0000, 1.0000
point: 5
positions: , 0.2620, -1.9306, -2.0991, -0.6828, 1.5708, -2.6997
velocities: , -0.2252, 0.1318, -0.0131, -0.1187, 0.0000, 0.5000
accelerations: , -0.4942, 0.2234, 0.0663, -0.2897, 0.0000, 0.9999
point: 6
positions: , 0.2369, -1.9163, -2.0999, -0.6961, 1.5708, -2.6447
velocities: , -0.2759, 0.1525, -0.0034, -0.1492, 0.0000, 0.6000
accelerations: , -0.5191, 0.1886, 0.1306, -0.3192, 0.0000, 1.0000
point: 7
positions: , 0.2067, -1.9002, -2.0995, -0.7127, 1.5708, -2.5797
velocities: , -0.3291, 0.1692, 0.0135, -0.1827, 0.0000, 0.7000
accelerations: , -0.5445, 0.1420, 0.2080, -0.3500, 0.0000, 1.0000
point: 8
positions: , 0.1711, -1.8827, -2.0970, -0.7328, 1.5708, -2.5047
velocities: , -0.3846, 0.1804, 0.0387, -0.2191, 0.0000, 0.8000
accelerations: , -0.5647, 0.0782, 0.2981, -0.3763, 0.0000, 0.9999
point: 9
positions: , 0.1297, -1.8643, -2.0915, -0.7566, 1.5708, -2.4197
velocities: , -0.4419, 0.1844, 0.0735, -0.2579, 0.0000, 0.8999
accelerations: , -0.5777, -0.0020, 0.3999, -0.3979, 0.0000, 0.9999
point: 10
positions: , 0.0847, -1.8468, -2.0824, -0.7832, 1.5708, -2.3288
velocities: , -0.4359, 0.1575, 0.1025, -0.2600, 0.0000, 0.8728
accelerations: , 0.4439, -0.3959, 0.1807, 0.2153, -0.0000, -1.0000
point: 11
positions: , 0.0434, -1.8329, -2.0714, -0.8081, 1.5708, -2.2465
velocities: , -0.3898, 0.1210, 0.1155, -0.2365, 0.0000, 0.7728
accelerations: , 0.4786, -0.3359, 0.0811, 0.2548, -0.0000, -1.0000
point: 12
positions: , 0.0068, -1.8224, -2.0596, -0.8304, 1.5708, -2.1742
velocities: , -0.3409, 0.0905, 0.1192, -0.2097, 0.0000, 0.6728
accelerations: , 0.4976, -0.2751, -0.0049, 0.2800, -0.0000, -1.0000
point: 13
positions: , -0.0248, -1.8146, -2.0478, -0.8499, 1.5708, -2.1119
velocities: , -0.2904, 0.0658, 0.1148, -0.1806, 0.0000, 0.5728
accelerations: , 0.5105, -0.2196, -0.0794, 0.2990, -0.0000, -1.0000
point: 14
positions: , -0.0513, -1.8091, -2.0369, -0.8665, 1.5708, -2.0596
velocities: , -0.2392, 0.0464, 0.1038, -0.1502, 0.0000, 0.4728
accelerations: , 0.5118, -0.1702, -0.1384, 0.3086, -0.0000, -1.0000
point: 15
positions: , -0.0726, -1.8052, -2.0273, -0.8799, 1.5708, -2.0174
velocities: , -0.1881, 0.0315, 0.0875, -0.1190, 0.0000, 0.3728
accelerations: , 0.5102, -0.1295, -0.1852, 0.3147, -0.0000, -1.0000
point: 16
positions: , -0.0889, -1.8026, -2.0195, -0.8903, 1.5708, -1.9851
velocities: , -0.1372, 0.0202, 0.0671, -0.0873, 0.0000, 0.2728
accelerations: , 0.5070, -0.0982, -0.2200, 0.3183, -0.0000, -1.0000
point: 17
positions: , -0.1001, -1.8011, -2.0139, -0.8974, 1.5708, -1.9628
velocities: , -0.0867, 0.0116, 0.0438, -0.0554, 0.0000, 0.1728
accelerations: , 0.5034, -0.0766, -0.2434, 0.3200, -0.0000, -1.0000
point: 18
positions: , -0.1059, -1.7996, -2.0113, -0.9014, 1.5708, -1.9496
velocities: , -0.0175, 0.0355, -0.0072, -0.0283, 0.0000, 0.1171
accelerations: , 0.9995, 0.6317, -0.8808, 0.2491, -0.0000, -0.1144
point: 19
positions: , -0.1027, -1.7937, -2.0160, -0.9027, 1.5708, -1.9401
velocities: , 0.0775, 0.0885, -0.0872, -0.0013, 0.0000, 0.0892
accelerations: , 0.8697, 0.9810, -0.9554, -0.0256, 0.0000, 1.0001
point: 20
positions: , -0.0906, -1.7800, -2.0293, -0.9031, 1.5708, -1.9262
velocities: , 0.1648, 0.1842, -0.1778, -0.0064, 0.0000, 0.1892
accelerations: , 0.8771, 0.9270, -0.8455, -0.0815, 0.0000, 1.0001
point: 21
positions: , -0.0697, -1.7571, -2.0511, -0.9042, 1.5708, -1.9022
velocities: , 0.2531, 0.2728, -0.2542, -0.0185, 0.0000, 0.2893
accelerations: , 0.8889, 0.8400, -0.6744, -0.1655, 0.0000, 1.0001
point: 22
positions: , -0.0400, -1.7258, -2.0796, -0.9071, 1.5708, -1.8683
velocities: , 0.3427, 0.3514, -0.3114, -0.0400, 0.0000, 0.3893
accelerations: , 0.9039, 0.7282, -0.4642, -0.2641, 0.0000, 1.0002
point: 23
positions: , -0.0011, -1.6872, -2.1126, -0.9126, 1.5708, -1.8244
velocities: , 0.4339, 0.4179, -0.3466, -0.0713, 0.0000, 0.4893
accelerations: , 0.9202, 0.5984, -0.2390, -0.3594, 0.0000, 1.0003
point: 24
positions: , 0.0469, -1.6426, -2.1481, -0.9216, 1.5708, -1.7704
velocities: , 0.5267, 0.4707, -0.3595, -0.1112, 0.0000, 0.5894
accelerations: , 0.9361, 0.4544, -0.0208, -0.4336, 0.0000, 1.0001
point: 25
positions: , 0.1043, -1.5935, -2.1838, -0.9350, 1.5708, -1.7065
velocities: , 0.6211, 0.5088, -0.3515, -0.1572, 0.0000, 0.6894
accelerations: , 0.9507, 0.3021, 0.1766, -0.4788, 0.0000, 1.0001
point: 26
positions: , 0.1711, -1.5414, -2.2178, -0.9532, 1.5708, -1.6326
velocities: , 0.7168, 0.5311, -0.3256, -0.2056, 0.0000, 0.7894
accelerations: , 0.9620, 0.1402, 0.3353, -0.4755, 0.0000, 1.0001
point: 27
positions: , 0.2476, -1.4879, -2.2485, -0.9761, 1.5708, -1.5486
velocities: , 0.8134, 0.5369, -0.2850, -0.2519, 0.0000, 0.8894
accelerations: , 0.9698, -0.0323, 0.4632, -0.4309, -0.0000, 1.0000
point: 28
positions: , 0.3338, -1.4346, -2.2745, -1.0033, 1.5708, -1.4547
velocities: , 0.9107, 0.5249, -0.2333, -0.2917, 0.0000, 0.9894
accelerations: , 0.9737, -0.2153, 0.5627, -0.3474, -0.0000, 1.0000
point: 29
positions: , 0.4298, -1.3835, -2.2948, -1.0340, 1.5708, -1.3507
velocities: , 1.0081, 0.4939, -0.1730, -0.3209, 0.0000, 1.0894
accelerations: , 0.9733, -0.4124, 0.6437, -0.2312, -0.0000, 1.0000
point: 30
positions: , 0.5354, -1.3365, -2.3088, -1.0670, 1.5708, -1.2368
velocities: , 1.0947, 0.4379, -0.1047, -0.3332, 0.0000, 1.1783
accelerations: , 0.0045, -1.0003, 0.7834, 0.2169, -0.0000, -0.0339
point: 31
positions: , 0.6447, -1.2977, -2.3156, -1.0991, 1.5708, -1.1193
velocities: , 1.0905, 0.3380, -0.0318, -0.3062, 0.0000, 1.1708
accelerations: , -0.0960, -1.0005, 0.6830, 0.3175, -0.0000, -0.1234
point: 32
positions: , 0.7532, -1.2689, -2.3155, -1.1280, 1.5708, -1.0029
velocities: , 1.0771, 0.2381, 0.0326, -0.2707, 0.0000, 1.1554
accelerations: , -0.1672, -1.0006, 0.6163, 0.3844, -0.0000, -0.1794
point: 33
positions: , 0.8598, -1.2501, -2.3092, -1.1531, 1.5708, -0.8885
velocities: , 1.0547, 0.1382, 0.0923, -0.2305, -0.0000, 1.1323
accelerations: , -0.2636, -1.0008, 0.5875, 0.4133, -0.0000, -0.2656
point: 34
positions: , 0.9638, -1.2413, -2.2970, -1.1740, 1.5708, -0.7767
velocities: , 1.0239, 0.0385, 0.1508, -0.1893, -0.0000, 1.1018
accelerations: , -0.4095, -1.0010, 0.5808, 0.4202, -0.0000, -0.4058
point: 35
positions: , 1.0643, -1.2424, -2.2790, -1.1910, 1.5708, -0.6685
velocities: , 0.9848, -0.0610, 0.2111, -0.1501, -0.0000, 1.0641
accelerations: , -0.3185, -0.9999, 0.6426, 0.3573, -0.0000, -0.2916
point: 36
positions: , 1.1605, -1.2535, -2.2547, -1.2042, 1.5708, -0.5642
velocities: , 0.9392, -0.1605, 0.2769, -0.1164, -0.0000, 1.0210
accelerations: , -0.5057, -1.0000, 0.6991, 0.3009, -0.0000, -0.4753
point: 37
positions: , 1.2519, -1.2745, -2.2233, -1.2145, 1.5708, -0.4644
velocities: , 0.8881, -0.2600, 0.3514, -0.0914, -0.0000, 0.9736
accelerations: , -0.5657, -0.9999, 0.8104, 0.1895, -0.0000, -0.5234
point: 38
positions: , 1.3380, -1.3055, -2.1840, -1.2229, 1.5708, -0.3696
velocities: , 0.8324, -0.3596, 0.4384, -0.0787, -0.0000, 0.9228
accelerations: , -0.5900, -0.9998, 0.9552, 0.0445, -0.0000, -0.5346
point: 39
positions: , 1.4181, -1.3464, -2.1352, -1.2308, 1.5708, -0.2801
velocities: , 0.7679, -0.4559, 0.5372, -0.0813, -0.0000, 0.8637
accelerations: , -0.7544, -0.8941, 0.9997, -0.1056, -0.0000, -0.7074
point: 40
positions: , 1.4910, -1.3962, -2.0765, -1.2397, 1.5708, -0.1975
velocities: , 0.6876, -0.5369, 0.6371, -0.1002, -0.0000, 0.7875
accelerations: , -0.8399, -0.7254, 0.9998, -0.2745, -0.0000, -0.8047
point: 41
positions: , 1.5556, -1.4532, -2.0078, -1.2514, 1.5708, -0.1227
velocities: , 0.6045, -0.6022, 0.7370, -0.1348, -0.0000, 0.7075
accelerations: , -0.8174, -0.5812, 0.9997, -0.4184, 0.0000, -0.7898
point: 42
positions: , 1.6120, -1.5162, -1.9291, -1.2671, 1.5708, -0.0558
velocities: , 0.5259, -0.6543, 0.8370, -0.1826, -0.0000, 0.6314
accelerations: , -0.7555, -0.4699, 0.9998, -0.5299, 0.0000, -0.7346
point: 43
positions: , 1.6610, -1.5838, -1.8404, -1.2882, 1.5708, 0.0038
velocities: , 0.4550, -0.6966, 0.9369, -0.2404, -0.0000, 0.5622
accelerations: , -0.6651, -0.3824, 0.9999, -0.6174, 0.0000, -0.6513
point: 44
positions: , 1.7033, -1.6552, -1.7417, -1.3154, 1.5708, 0.0569
velocities: , 0.3923, -0.7319, 1.0369, -0.3050, -0.0000, 0.5005
accelerations: , -0.6002, -0.3255, 0.9999, -0.6744, 0.0000, -0.5953
point: 45
positions: , 1.7397, -1.7300, -1.6330, -1.3494, 1.5708, 0.1041
velocities: , 0.3373, -0.7626, 1.1369, -0.3743, -0.0000, 0.4456
accelerations: , -0.5189, -0.2886, 1.0000, -0.7114, 0.0000, -0.5243
point: 46
positions: , 1.7710, -1.8077, -1.5143, -1.3904, 1.5708, 0.1462
velocities: , 0.2892, -0.7904, 1.2369, -0.4465, -0.0000, 0.3963
accelerations: , -0.4477, -0.2679, 1.0000, -0.7321, 0.0000, -0.4659
point: 47
positions: , 1.7974, -1.8867, -1.3878, -1.4379, 1.5708, 0.1830
velocities: , 0.2306, -0.7603, 1.2440, -0.4838, -0.0000, 0.3281
accelerations: , -0.6965, 0.9223, -0.9992, 0.0769, 0.0000, -0.8721
point: 48
positions: , 1.8174, -1.9583, -1.2684, -1.4857, 1.5708, 0.2119
velocities: , 0.1727, -0.6740, 1.1440, -0.4700, -0.0000, 0.2541
accelerations: , -0.4871, 0.8127, -0.9995, 0.1868, 0.0000, -0.6363
point: 49
positions: , 1.8325, -2.0218, -1.1590, -1.5316, 1.5708, 0.2344
velocities: , 0.1316, -0.5971, 1.0441, -0.4470, -0.0000, 0.1991
accelerations: , -0.3531, 0.7341, -0.9997, 0.2656, 0.0000, -0.4811
point: 50
positions: , 1.8440, -2.0780, -1.0596, -1.5749, 1.5708, 0.2521
velocities: , 0.1013, -0.5269, 0.9441, -0.4172, -0.0000, 0.1570
accelerations: , -0.2638, 0.6765, -0.9998, 0.3233, 0.0000, -0.3737
point: 51
positions: , 1.8530, -2.1274, -0.9701, -1.6149, 1.5708, 0.2661
velocities: , 0.0784, -0.4617, 0.8442, -0.3825, -0.0000, 0.1239
accelerations: , -0.2021, 0.6334, -0.9999, 0.3664, 0.0000, -0.2964
point: 52
positions: , 1.8599, -2.1704, -0.8907, -1.6512, 1.5708, 0.2771
velocities: , 0.0606, -0.4001, 0.7442, -0.3440, -0.0000, 0.0975
accelerations: , -0.1582, 0.6007, -0.9999, 0.3992, 0.0000, -0.2390
point: 53
positions: , 1.8652, -2.2075, -0.8213, -1.6836, 1.5708, 0.2858
velocities: , 0.0467, -0.3415, 0.6442, -0.3026, -0.0000, 0.0762
accelerations: , -0.1246, 0.5746, -0.9999, 0.4254, 0.0000, -0.1938
point: 54
positions: , 1.8693, -2.2388, -0.7619, -1.7117, 1.5708, 0.2925
velocities: , 0.0356, -0.2852, 0.5442, -0.2590, -0.0000, 0.0587
accelerations: , -0.1003, 0.5545, -1.0000, 0.4455, 0.0000, -0.1594
point: 55
positions: , 1.8724, -2.2646, -0.7125, -1.7353, 1.5708, 0.2976
velocities: , 0.0266, -0.2306, 0.4442, -0.2135, -0.0000, 0.0443
accelerations: , -0.0817, 0.5387, -1.0000, 0.4612, 0.0000, -0.1326
point: 56
positions: , 1.8747, -2.2850, -0.6731, -1.7543, 1.5708, 0.3014
velocities: , 0.0192, -0.1774, 0.3442, -0.1668, -0.0000, 0.0321
accelerations: , -0.0684, 0.5269, -1.0000, 0.4730, 0.0000, -0.1127
point: 57
positions: , 1.8763, -2.3001, -0.6436, -1.7686, 1.5708, 0.3041
velocities: , 0.0129, -0.1252, 0.2442, -0.1190, -0.0000, 0.0216
accelerations: , -0.0590, 0.5184, -1.0000, 0.4816, 0.0000, -0.0982
point: 58
positions: , 1.8773, -2.3100, -0.6242, -1.7781, 1.5708, 0.3058
velocities: , 0.0073, -0.0736, 0.1442, -0.0705, -0.0000, 0.0123
accelerations: , -0.0529, 0.5128, -1.0000, 0.4872, 0.0000, -0.0889
point: 59
positions: , 1.8778, -2.3149, -0.6148, -1.7827, 1.5708, 0.3066
velocities: , 0.0027, -0.0261, 0.0468, -0.0207, -0.0000, 0.0046
accelerations: , 0.1321, -0.7898, -0.2075, 0.9973, -0.0000, 0.2226
point: 60
positions: , 1.8783, -2.3185, -0.6134, -1.7805, 1.5708, 0.3075
velocities: , 0.0032, -0.0140, -0.0314, 0.0454, -0.0000, 0.0054
accelerations: , -0.1367, 0.9990, -0.7280, -0.2710, 0.0000, -0.2303
point: 61
positions: , 1.8784, -2.3173, -0.6207, -1.7744, 1.5708, 0.3076
velocities: , 0.0000, 0.0229, -0.1213, 0.0984, 0.0000, 0.0000
accelerations: , 0.0000, 0.1796, -1.0000, 0.8204, 0.0000, 0.0000
point: 62
positions: , 1.8784, -2.3142, -0.6378, -1.7604, 1.5708, 0.3076
velocities: , 0.0000, 0.0394, -0.2213, 0.1819, 0.0000, 0.0000
accelerations: , 0.0000, 0.1456, -0.9999, 0.8544, 0.0000, 0.0000
point: 63
positions: , 1.8784, -2.3096, -0.6650, -1.7379, 1.5708, 0.3076
velocities: , 0.0000, 0.0514, -0.3213, 0.2699, 0.0000, 0.0000
accelerations: , 0.0000, 0.0878, -0.9999, 0.9121, 0.0000, 0.0000
point: 64
positions: , 1.8784, -2.3041, -0.7021, -1.7062, 1.5708, 0.3076
velocities: , 0.0000, 0.0561, -0.4213, 0.3652, 0.0000, 0.0000
accelerations: , 0.0000, -0.0014, -0.9988, 1.0002, 0.0000, 0.0000
point: 65
positions: , 1.8784, -2.2987, -0.7490, -1.6647, 1.5708, 0.3076
velocities: , 0.0000, 0.0494, -0.5144, 0.4650, 0.0000, 0.0000
accelerations: , 0.0000, -0.1447, -0.8554, 1.0001, 0.0000, 0.0000
point: 66
positions: , 1.8784, -2.2948, -0.8045, -1.6132, 1.5708, 0.3076
velocities: , 0.0000, 0.0270, -0.5920, 0.5650, 0.0000, 0.0000
accelerations: , 0.0000, -0.3148, -0.6852, 1.0000, 0.0000, 0.0000
point: 67
positions: , 1.8784, -2.2940, -0.8668, -1.5517, 1.5708, 0.3076
velocities: , 0.0000, -0.0143, -0.6507, 0.6650, 0.0000, 0.0000
accelerations: , 0.0000, -0.5281, -0.4720, 1.0001, 0.0000, 0.0000
point: 68
positions: , 1.8784, -2.2984, -0.9338, -1.4802, 1.5708, 0.3076
velocities: , 0.0000, -0.0784, -0.6866, 0.7650, 0.0000, 0.0000
accelerations: , 0.0000, -0.7704, -0.2296, 1.0000, 0.0000, 0.0000
point: 69
positions: , 1.8784, -2.3105, -1.0031, -1.3988, 1.5708, 0.3076
velocities: , 0.0000, -0.1658, -0.6808, 0.8466, 0.0000, 0.0000
accelerations: , 0.0000, -0.8037, 1.0003, -0.1966, 0.0000, 0.0000
point: 70
positions: , 1.8784, -2.3310, -1.0662, -1.3152, 1.5708, 0.3076
velocities: , 0.0000, -0.2430, -0.5812, 0.8242, 0.0000, 0.0000
accelerations: , 0.0000, -0.7552, 1.0004, -0.2452, 0.0000, 0.0000
point: 71
positions: , 1.8784, -2.3590, -1.1193, -1.2341, 1.5708, 0.3076
velocities: , 0.0000, -0.3157, -0.4815, 0.7973, 0.0000, 0.0000
accelerations: , 0.0000, -0.6991, 1.0004, -0.3014, 0.0000, 0.0000
point: 72
positions: , 1.8784, -2.3940, -1.1625, -1.1560, 1.5708, 0.3076
velocities: , 0.0000, -0.3835, -0.3818, 0.7654, 0.0000, 0.0000
accelerations: , 0.0000, -0.6585, 1.0003, -0.3417, 0.0000, 0.0000
point: 73
positions: , 1.8784, -2.4355, -1.1957, -1.0812, 1.5708, 0.3076
velocities: , 0.0000, -0.4460, -0.2821, 0.7281, 0.0000, 0.0000
accelerations: , 0.0000, -0.5649, 0.9449, -0.3800, 0.0000, 0.0000
point: 74
positions: , 1.8784, -2.4830, -1.2189, -1.0105, 1.5708, 0.3076
velocities: , 0.0000, -0.5031, -0.1823, 0.6854, 0.0000, 0.0000
accelerations: , 0.0000, -0.5373, 1.0003, -0.4631, 0.0000, 0.0000
point: 75
positions: , 1.8784, -2.5359, -1.2321, -0.9443, 1.5708, 0.3076
velocities: , 0.0000, -0.5546, -0.0825, 0.6371, 0.0000, 0.0000
accelerations: , 0.0000, -0.4880, 1.0003, -0.5123, 0.0000, 0.0000
point: 76
positions: , 1.8784, -2.5937, -1.2354, -0.8833, 1.5708, 0.3076
velocities: , 0.0000, -0.6002, 0.0174, 0.5828, 0.0000, 0.0000
accelerations: , -0.0000, -0.3895, 0.9998, -0.6103, 0.0000, -0.0000
point: 77
positions: , 1.8784, -2.6558, -1.2286, -0.8280, 1.5708, 0.3076
velocities: , 0.0000, -0.6403, 0.1174, 0.5228, 0.0000, 0.0000
accelerations: , -0.0000, -0.3709, 1.0000, -0.6291, 0.0000, -0.0000
point: 78
positions: , 1.8784, -2.7216, -1.2119, -0.7789, 1.5708, 0.3076
velocities: , 0.0000, -0.6746, 0.2174, 0.4572, 0.0000, 0.0000
accelerations: , -0.0000, -0.3142, 1.0000, -0.6858, 0.0000, -0.0000
point: 79
positions: , 1.8784, -2.7905, -1.1852, -0.7367, 1.5708, 0.3076
velocities: , 0.0000, -0.7037, 0.3172, 0.3865, 0.0000, 0.0000
accelerations: , -0.0000, -0.2683, 1.0001, -0.7318, 0.0000, -0.0000
point: 80
positions: , 1.8784, -2.8622, -1.1484, -0.7018, 1.5708, 0.3076
velocities: , 0.0000, -0.7281, 0.4171, 0.3110, 0.0000, 0.0000
accelerations: , -0.0000, -0.2111, 1.0001, -0.7890, 0.0000, -0.0000
point: 81
positions: , 1.8784, -2.9348, -1.1026, -0.6750, 1.5708, 0.3076
velocities: , 0.0000, -0.7056, 0.4861, 0.2195, 0.0000, 0.0000
accelerations: , -0.0000, 0.7167, 0.2848, -1.0015, 0.0000, -0.0000
point: 82
positions: , 1.8784, -3.0008, -1.0538, -0.6578, 1.5708, 0.3076
velocities: , 0.0000, -0.6101, 0.4821, 0.1280, 0.0000, 0.0000
accelerations: , -0.0000, 1.0002, -0.2205, -0.7797, 0.0000, -0.0000
point: 83
positions: , 1.8784, -3.0568, -1.0071, -0.6484, 1.5708, 0.3076
velocities: , 0.0000, -0.5101, 0.4459, 0.0641, 0.0000, 0.0000
accelerations: , -0.0000, 0.8984, -0.6421, -0.2563, 0.0000, -0.0000
point: 84
positions: , 1.8784, -3.1028, -0.9653, -0.6442, 1.5708, 0.3076
velocities: , 0.0000, -0.4101, 0.3866, 0.0235, 0.0000, 0.0000
accelerations: , -0.0000, 1.0006, -0.6941, -0.3065, 0.0000, -0.0000
point: 85
positions: , 1.8784, -3.1388, -0.9304, -0.6431, 1.5708, 0.3076
velocities: , 0.0000, -0.3102, 0.3089, 0.0013, 0.0000, 0.0000
accelerations: , -0.0000, 1.0006, -0.8536, -0.1470, 0.0000, -0.0000
point: 86
positions: , 1.8784, -3.1648, -0.9040, -0.6435, 1.5708, 0.3076
velocities: , 0.0000, -0.2102, 0.2174, -0.0072, 0.0000, 0.0000
accelerations: , -0.0000, 1.0004, -0.9688, -0.0317, 0.0000, -0.0000
point: 87
positions: , 1.8784, -3.1809, -0.8872, -0.6443, 1.5708, 0.3076
velocities: , 0.0000, -0.1115, 0.1180, -0.0065, 0.0000, 0.0000
accelerations: , -0.0000, 0.9625, -0.9998, 0.0373, 0.0000, -0.0000
point: 88
positions: , 1.8784, -3.1873, -0.8804, -0.6446, 1.5708, 0.3076
velocities: , 0.0000, -0.0170, 0.0180, -0.0010, 0.0000, 0.0000
accelerations: , -0.0000, 0.9443, -1.0000, 0.0557, 0.0000, -0.0000
point: 89
positions: , 1.8784, -3.1874, -0.8803, -0.6447, 1.5708, 0.3076
velocities: , -0.0000, 0.0000, -0.0000, 0.0000, -0.0000, -0.0000
accelerations: , -0.0000, 0.9443, -1.0000, 0.0557, -0.0000, -0.0000

[urfeex]

@bodkal thank you for posting an example path. Would you also have a time parametrization for all the trajectory points? That would make it a reproducible trajectory.

[kdeshp-prof]

I am able to observe the same error even with URSim while using the ur ros2 driver (humble/Jazzy)

[mohd-osama-47]

I have commented on a similar issue (#1235 (comment)) a possible solution through lowering the speed slider in the UR Teach Pendant, not sure why this worked for me though...

[bodkal]

I found out that if I add more points to the path (every 0.005 in the Cartesian path) and wait a bit before executing the path after the arm moves (maybe I send a new path before the first one fully converges?. Is there an API that can tell me if asynchronous paths are finished?), I stop getting that error.