UR5 crashes randomly with the spacemouse

[JgusbcAIST]

Hi! I was testing the gello and the spacemouse on a UR5 robot using your github but I realized something. Whenever I am running the spacemouse code with the UR5 sometimes (randomly) the robot crashes and enters into the Protective Stop state. I was wondering if you guys had the same issue when testing the both of them and if you did, how did you solve it?

[JemuelStanley47]

Could you share more details about the protective stop? Specifically, what does the pop-up message say on the teach pendant—does it mention velocity limits, unreachable position, or something else?

Also, can you provide any logs or terminal output when the stop occurs? That would help reproduce and debug the issue more effectively.

[JgusbcAIST]

Thanks for answering! The error on the teach pendant is the one that I attachet as a png. And I tried what the Suggestion tells me to do: I double checked my payload, I checked the center of gravity and even I modified the velocity and acceleretion of the robot.

About when the stop occurs. This will sound crazy but... it is random. Sometimes I am moving the UR5 with the spacemouse really smooth and when trying to reaching an object it Protective Stops, sometimes i am able to grasp things without any issues and sometimes just Protective Stops. Sometimes I start moving the robot and it crashes without letting me to move it more than 1 cm. At first I thought it was maybe that I was trying to do "weird" or "uncomfortable" positions with the robot but I tried to rotate and move the robot in ways that I thought it would have make to crash, but NO! It was still working perfectly. So it just happens "randomly". I've been trying to replicate everything to see what is making it to crash but no results so far.

About the terminal output it only says
RTDEControlInterface: RTDE control script is not running! RTDEControlInterface: RTDE control script is not running! RTDEControlInterface: RTDE control script is not running!
and nothing else :(

[JemuelStanley47]

So far, this doesn't seem like a teleop issue, but since the error is a Protective Stop, I recommend the following checks:

• Double-check payload and force limits (you already have): Ensure the robot isn’t experiencing unexpected external forces (heavy objects or tight cables) or inertia changes that could trigger a safety threshold.
• Log Gello actions and EE pose continuously until error occurs: Keeping this on will help correlate teleop input with robot motion and detect any spurious commands.
• Monitor shoulder joint current when the stop happens: Use the teach pendant or the RTDE Receive Interface to see if current spikes occur — that could indicate excessive torque or hardware stress. This would either indicate a hardware issue or excessive payload for the shoulder
• Check with another robot if you have access to one

Sorry I’m a bit lost here too, but these are all the things I could think of in case the issue keeps persisting.