Random errors from time to time

[hidoba]

I'm using offline trajectory computation through Python, using the version compiled from this repo from May 15, (commit eb749af10fe10554bea795182209242a9c57433a). Running on Nvidia Jetson Nano. Errors happen every once in a while.

Examples of output when errors happen:

ruckig.RuckigError: 
[ruckig] error in step 2 in dof: 0 for t sync: 0.000000 input: 
inp.current_position = [-0.04895883258572608, 0.1992637939208025, -0.2914660630142018]
inp.current_velocity = [1.425883388427091e-14, -9.520201039439915e-20, -9.656571194417352e-20]
inp.current_acceleration = [-2.370282711878416e-12, 0, 3.469446951953614e-18]
inp.target_position = [-0.04895883258572691, 0.1992637939208025, -0.2914660630142018]
inp.target_velocity = [0, 0, 0]
inp.target_acceleration = [0, 0, 0]
inp.max_velocity = [5, 5, 5]
inp.max_acceleration = [10, 10, 10]
inp.max_jerk = [150, 150, 150]

ruckig.RuckigError: 
[ruckig] error in step 2 in dof: 1 for t sync: 0.000000 input: 
inp.current_position = [0.03839900283757711, 0.2093483656756634, 0.03189466728432298]
inp.current_velocity = [1.466391486711824e-18, 1.924174584908152e-18, -1.542564246001646e-20]
inp.current_acceleration = [0, -3.608224830031759e-16, 0]
inp.target_position = [0.0383990028375771, 0.2093483656756634, 0.03189466728432298]
inp.target_velocity = [0, 0, 0]
inp.target_acceleration = [0, 0, 0]
inp.max_velocity = [5, 5, 5]
inp.max_acceleration = [15, 15, 15]
inp.max_jerk = [200, 200, 200]