Old scene file causing joints to disengage

[ArifRahman]

Hi,

I have this old scene file (definitely >5 years old) of the uarm robot, which worked perfectly back then. But when I run it with the latest CoppeliaSim v4.9.0 rev 6, two of the robot joints seems to disengage / pulled apart from each other.

[youtube]https://youtu.be/28gMYZCY01o[/youtube]

Can you give me a guide on how do I go about debugging this? There are no error messages, only warnings on deprecated functions.

Code: Select all

[sandboxScript:info] Simulation stopped.
[sandboxScript:info] Simulation started.
[mainScript:warning] module 'sim' was implicitly loaded.
[mainScript:warning] the script is running in compatibility mode. It is highly recommended to switch to the new calling method, e.g.:
with the old method: if sim_call_type==sim.syscb_init then ... end
with the new method: function sysCall_init() ... end
[/uarm/uarmGripper@simulationScript:warning] module 'sim' was implicitly loaded.
[/uarm/uarmGripper@simulationScript:warning] the script is running in compatibility mode. It is highly recommended to switch to the new calling method, e.g.:
with the old method: if sim_call_type==sim.syscb_init then ... end
with the new method: function sysCall_init() ... end
[/uarm/uarm_base@simulationScript:warning] module 'sim' was implicitly loaded.
[/uarm/uarm_base@simulationScript:warning] the script is running in compatibility mode. It is highly recommended to switch to the new calling method, e.g.:
with the old method: if sim_call_type==sim.syscb_init then ... end
with the new method: function sysCall_init() ... end
[/DefaultCamera@simulationScript:warning] module 'sim' was implicitly loaded.
[/DefaultCamera@simulationScript:warning] the script is running in compatibility mode. It is highly recommended to switch to the new calling method, e.g.:
with the old method: if sim_call_type==sim.syscb_init then ... end
with the new method: function sysCall_init() ... end
[/DefaultLightA@simulationScript:warning] module 'sim' was implicitly loaded.
[/DefaultLightA@simulationScript:warning] the script is running in compatibility mode. It is highly recommended to switch to the new calling method, e.g.:
with the old method: if sim_call_type==sim.syscb_init then ... end
with the new method: function sysCall_init() ... end
[/DefaultLightB@simulationScript:warning] module 'sim' was implicitly loaded.
[/DefaultLightB@simulationScript:warning] the script is running in compatibility mode. It is highly recommended to switch to the new calling method, e.g.:
with the old method: if sim_call_type==sim.syscb_init then ... end
with the new method: function sysCall_init() ... end
[/uarm@simulationScript:warning] module 'sim' was implicitly loaded.

However when I stop the simulation, this error message comes up:

Code: Select all

[/uarm@simulationScript:info] Lua runtime error: ...iaSim_Edu_V4_9_0_rev6_Ubuntu20_04/lua/sim-deprecated.lua:191: attempt to yield from outside a coroutine
stack traceback:
    [string "/uarm@simulationScript"]:411: in hook '?'
    ...iaSim_Edu_V4_9_0_rev6_Ubuntu20_04/lua/sim-deprecated.lua:191: in function 'sim-1.switchThread'
    [string "/uarm@simulationScript"]:320: in function 'threadFunction'
    [C]: in function 'xpcall'
    [string "/uarm@simulationScript"]:411: in function 'sim_code_function_to_run'
[/uarm/uarm_base@simulationScript:error] [string "/uarm/uarm_base@simulationScript"]:375: bad argument #2 to 'format' (number expected, got nil)
stack traceback:
    [C]: in function 'string.format'
    [string "/uarm/uarm_base@simulationScript"]:375: in function 'sim_code_function_to_run'
[mainScript:error] [string "mainScript"]:74: attempt to call a nil value (global 'simResetMilling')
stack traceback:
    [string "mainScript"]:74: in function 'sim_code_function_to_run'
[sandboxScript:info] Simulation stopped.

Not sure if this is related or not.

Any guide would be appreciated.

[coppelia]

Hello,

please post the scene. My guess is that the scene is using a script type that is not supported anymore. Normally there is a warning when loading the original scene.
You can actually obtain a similar broken behaviour with the newest version of the robot, by simply removing the sysCall_joint callback function in the script attached to the uarm.

Cheers