复选框和停留时间

HitBotCSharpDemo/ShowForm.Designer.cs

@@ -1029,7 +1029,7 @@
             // 
             // textBox1
             // 
-            this.textBox1.Location = new System.Drawing.Point(1026, 72);
+            this.textBox1.Location = new System.Drawing.Point(1023, 74);
             this.textBox1.Name = "textBox1";
             this.textBox1.Size = new System.Drawing.Size(100, 28);
             this.textBox1.TabIndex = 16;
@@ -1038,7 +1038,7 @@
             // checkBox4
             // 
             this.checkBox4.AutoSize = true;
-            this.checkBox4.Location = new System.Drawing.Point(807, 76);
+            this.checkBox4.Location = new System.Drawing.Point(714, 79);
             this.checkBox4.Name = "checkBox4";
             this.checkBox4.Size = new System.Drawing.Size(79, 22);
             this.checkBox4.TabIndex = 15;
@@ -1049,7 +1049,7 @@
             // checkBox3
             // 
             this.checkBox3.AutoSize = true;
-            this.checkBox3.Location = new System.Drawing.Point(676, 77);
+            this.checkBox3.Location = new System.Drawing.Point(617, 79);
             this.checkBox3.Name = "checkBox3";
             this.checkBox3.Size = new System.Drawing.Size(79, 22);
             this.checkBox3.TabIndex = 14;
@@ -1060,7 +1060,7 @@
             // checkBox2
             // 
             this.checkBox2.AutoSize = true;
-            this.checkBox2.Location = new System.Drawing.Point(544, 78);
+            this.checkBox2.Location = new System.Drawing.Point(518, 79);
             this.checkBox2.Name = "checkBox2";
             this.checkBox2.Size = new System.Drawing.Size(79, 22);
             this.checkBox2.TabIndex = 13;
@@ -1226,11 +1226,11 @@
             // label1
             // 
             this.label1.AutoSize = true;
-            this.label1.Location = new System.Drawing.Point(932, 78);
+            this.label1.Location = new System.Drawing.Point(847, 79);
             this.label1.Name = "label1";
-            this.label1.Size = new System.Drawing.Size(98, 18);
+            this.label1.Size = new System.Drawing.Size(170, 18);
             this.label1.TabIndex = 17;
-            this.label1.Text = "停留时间：";
+            this.label1.Text = "停留时间（分钟）：";
             // 
             // ShowForm
             // 

HitBotCSharpDemo/ShowForm.cs

@@ -1,17 +1,18 @@
 using ControlBeanExDll;
 using MvCamCtrl.NET;
 using MvCameraControl;
+using OfficeOpenXml;
 using System;
 using System.Collections.Generic;
+using System.Data;
 using System.Drawing;
 using System.IO;
+using System.Linq;
+using System.Net;
+using System.Net.Sockets;
 using System.Threading;
 using System.Windows.Forms;
 using TcpserverExDll;
-using System.Net;
-using System.Net.Sockets;
-using System.Data;
-using OfficeOpenXml;
 
 namespace HitBotCSharpDemo
 {   
@@ -68,10 +69,14 @@ namespace HitBotCSharpDemo
 
         private bool isCycleRunning = false;
         private Thread cycleThread;
-        private string xlsFilePath = Path.Combine(Application.StartupPath, "DetectionResults.xlsx");
+        //private string xlsFilePath = Path.Combine(Application.StartupPath, "DetectionResults.xlsx");
         private List<float[]> detectionData = new List<float[]>(); // 存储每轮检测数据
         private int currentCycle = 0;
 
+        private List<int> selectedPositions = new List<int>(); // 存储选中的点位
+        private int dwellTimeMinutes = 1; // 停留时间（分钟）
+        private string cycleStartTime = ""; // 循环开始时间
+
         private ControlBeanEx robot;
         public ShowForm()
         {
@@ -354,7 +359,10 @@ namespace HitBotCSharpDemo
             if (isCycleRunning)
             {
                 StopCycle();
+                // 恢复控件状态
+                SetControlsEnabled(true);
             }
+
             // 停止采集
             if (isGrabbing)
             {
@@ -1257,6 +1265,14 @@ namespace HitBotCSharpDemo
         {
             if (!isCycleRunning)
             {
+                // 检查是否选择了点位
+                UpdateSelectedPositions();
+                if (selectedPositions.Count == 0)
+                {
+                    MessageBox.Show("请至少选择一个点位进行检测");
+                    return;
+                }
+
                 // 开始循环
                 if (!isInit)
                 {
@@ -1274,72 +1290,106 @@ namespace HitBotCSharpDemo
                     MessageBox.Show("连接检测服务器失败");
                     return;
                 }
+
+                // 记录循环开始时间
+                cycleStartTime = DateTime.Now.ToString("yyyyMMdd_HHmmss");
+
+                SetControlsEnabled(false);
+
                 isCycleRunning = true;
+                currentCycle = 0;
+                detectionData.Clear();
+
                 cycleThread = new Thread(CycleProcess);
                 cycleThread.IsBackground = true;
                 cycleThread.Start();
+
                 ((Button)sender).Text = "停止循环";
-                MessageBox.Show("循环检测已开始");
+                MessageBox.Show($"循环检测已开始，选中点位：{string.Join(",", selectedPositions.Select(p => (p + 1).ToString()))}，停留时间：{dwellTimeMinutes}分钟");
+
             }
             else
             {
                 // 停止循环
                 StopCycle();
+                SetControlsEnabled(true);
                 ((Button)sender).Text = "开始循环";
                 MessageBox.Show("循环检测已停止");
             }
         }
+        private void SetControlsEnabled(bool enabled)
+        {
+            // 在UI线程中执行控件状态修改
+            if (this.InvokeRequired)
+            {
+                this.Invoke(new Action<bool>(SetControlsEnabled), enabled);
+                return;
+            }
+            // 禁用/启用复选框
+            checkBox1.Enabled = enabled;
+            checkBox2.Enabled = enabled;
+            checkBox3.Enabled = enabled;
+            checkBox4.Enabled = enabled;
+
+            // 禁用/启用停留时间文本框
+            textBox1.Enabled = enabled;
+        }
+
+        // 修改后的循环处理方法
         private void CycleProcess()
         {
             try
             {
                 while (isCycleRunning)
                 {
-                    float[] cycleResults = new float[8]; // 存储一轮循环的4个点位检测结果
-
-                    // 按照1-2-3-4的顺序移动
-                    for (int i = 0; i < 4; i++)
+                    // 创建一个字典来存储本轮循环的检测结果
+                    Dictionary<int, float[]> cycleResults = new Dictionary<int, float[]>();
+                    // 按照选中的点位顺序移动
+                    foreach (int positionIndex in selectedPositions)
                     {
                         if (!isCycleRunning) break;
                         // 移动到指定点位
                         this.Invoke(new Action(() => {
-                            MoveToPosition(i);
+                            MoveToPosition(positionIndex);
                         }));
-                        // 等待移动完成
+                        // 等待移动完成并稳定3秒
                         WaitForRobotStopAndDelay(3000);
-
                         if (!isCycleRunning)
                         {
                             WaitForRobotStop();
                             break;
                         }
-
                         // 拍照并进行检测
-                        string detectionResult = CaptureAndDetect(i);
-
+                        string detectionResult = CaptureAndDetect(positionIndex);
                         if (!string.IsNullOrEmpty(detectionResult))
                         {
                             // 在UI线程中显示检测结果
                             this.Invoke(new Action(() => DisplayDetectionResult(detectionResult)));
-
                             // 存储检测到的width和height数据
-                            cycleResults[2 * i] = receivedWidth;
-                            cycleResults[2 * i + 1] = receivedHeight;
+                            cycleResults[positionIndex] = new float[] { receivedWidth, receivedHeight };
                         }
-                        // 在当前点位停留1分钟
+                        else
+                        {
+                            // 如果检测失败，存储0值
+                            cycleResults[positionIndex] = new float[] { 0f, 0f };
+                        }
+                        // 在当前点位停留剩余时间（总时间 - 稳定时间3秒）
                         if (isCycleRunning)
                         {
-                            Thread.Sleep(57000); // 已停留3s
+                            int remainingTimeMs = (dwellTimeMinutes * 60 - 3) * 1000;
+                            if (remainingTimeMs > 0)
+                            {
+                                Thread.Sleep(remainingTimeMs);
+                            }
                         }
                     }
                     // 保存本轮循环的数据
-                    if (isCycleRunning)
+                    if (isCycleRunning && cycleResults.Count > 0)
                     {
-                        detectionData.Add(cycleResults);
                         currentCycle++;
 
                         // 更新Excel文件
-                        this.Invoke(new Action(() => UpdateExcelFile()));
+                        this.Invoke(new Action(() => UpdateExcelFileWithSelectedPositions(cycleResults)));
                     }
                 }
             }
@@ -1356,9 +1406,83 @@ namespace HitBotCSharpDemo
                     this.Invoke(new Action(() => {
                         MoveToPosition(4); // 第5个点位（索引4）
                     }));
+
+                    // 确保在循环结束时恢复控件状态
+                    this.Invoke(new Action(() => {
+                        if (isCycleRunning == false) // 只有在正常结束时才恢复
+                        {
+                            SetControlsEnabled(true);
+                        }
+                    }));
+
                 }
             }
         }
+
+        // Excel文件更新方法
+        private void UpdateExcelFileWithSelectedPositions(Dictionary<int, float[]> cycleResults)
+        {
+            try
+            {
+                ExcelPackage.LicenseContext = LicenseContext.NonCommercial;
+                // 根据开始时间和选中点位创建文件名
+                string selectedPosStr = string.Join("_", selectedPositions.Select(p => (p + 1).ToString()));
+                string fileName = $"DetectionResults_Pos{selectedPosStr}_{cycleStartTime}.xlsx";
+                string filePath = Path.Combine(Application.StartupPath, fileName);
+                FileInfo file = new FileInfo(filePath);
+                using (ExcelPackage package = new ExcelPackage(file))
+                {
+                    ExcelWorksheet worksheet;
+                    if (package.Workbook.Worksheets.Count == 0)
+                    {
+                        // 创建新的工作表
+                        worksheet = package.Workbook.Worksheets.Add("检测结果");
+                        // 设置表头
+                        worksheet.Cells[1, 1].Value = "循环次数";
+                        worksheet.Cells[1, 2].Value = "检测时间";
+
+                        int headerCol = 3;
+                        foreach (int pos in selectedPositions)
+                        {
+                            worksheet.Cells[1, headerCol].Value = $"pos{pos + 1}_width";
+                            worksheet.Cells[1, headerCol + 1].Value = $"pos{pos + 1}_height";
+                            headerCol += 2;
+                        }
+                    }
+                    else
+                    {
+                        worksheet = package.Workbook.Worksheets[0];
+                    }
+                    // 添加数据行
+                    int row = worksheet.Dimension?.Rows + 1 ?? 2;
+
+                    worksheet.Cells[row, 1].Value = currentCycle;
+                    worksheet.Cells[row, 2].Value = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
+
+                    int dataCol = 3;
+                    foreach (int pos in selectedPositions)
+                    {
+                        if (cycleResults.ContainsKey(pos))
+                        {
+                            worksheet.Cells[row, dataCol].Value = cycleResults[pos][0]; // width
+                            worksheet.Cells[row, dataCol + 1].Value = cycleResults[pos][1]; // height
+                        }
+                        else
+                        {
+                            worksheet.Cells[row, dataCol].Value = 0; // width
+                            worksheet.Cells[row, dataCol + 1].Value = 0; // height
+                        }
+                        dataCol += 2;
+                    }
+                    package.Save();
+                }
+            }
+            catch (Exception ex)
+            {
+                MessageBox.Show("更新Excel文件失败: " + ex.Message);
+            }
+        }
+
         private void WaitForRobotStop()
         {
             if (!isInit) return;
@@ -1392,7 +1516,6 @@ namespace HitBotCSharpDemo
                 // 重置检测结果
                 receivedWidth = 0;
                 receivedHeight = 0;
-
                 // 保存当前图像到对应文件夹
                 string imagePath = SaveImageToPositionFolder(positionIndex);
                 if (string.IsNullOrEmpty(imagePath))
@@ -1403,20 +1526,18 @@ namespace HitBotCSharpDemo
                 SendImageToServer(imagePath);
                 // 接收处理后的图像
                 string receivedImagePath = ReceiveImageFromServer();
-
                 // 将检测结果图像保存到对应文件夹
                 if (!string.IsNullOrEmpty(receivedImagePath))
                 {
-                    string targetFolder = Path.Combine(Application.StartupPath, $"Position{positionIndex + 1}_Results");
+                    string targetFolder = Path.Combine(Application.StartupPath, $"Position{positionIndex + 1}_Results_{cycleStartTime}");
                     if (!Directory.Exists(targetFolder))
                     {
                         Directory.CreateDirectory(targetFolder);
                     }
-                    string finalPath = Path.Combine(targetFolder,
-                        $"Detection_Pos{positionIndex + 1}_Cycle{currentCycle + 1}_{DateTime.Now:yyyyMMddHHmmss}.jpg");
 
+                    string finalPath = Path.Combine(targetFolder,
+                        $"Detection_Pos{positionIndex + 1}_Cycle{currentCycle}_{DateTime.Now:yyyyMMddHHmmss}.jpg");
                     File.Copy(receivedImagePath, finalPath, true);
-                    //File.Delete(receivedImagePath);
                     return finalPath;
                 }
                 return receivedImagePath;
@@ -1427,21 +1548,26 @@ namespace HitBotCSharpDemo
                 return null;
             }
         }
+
         private string SaveImageToPositionFolder(int positionIndex)
         {
             if (frameForSave == null) return null;
+
             try
             {
-                string positionFolder = Path.Combine(Application.StartupPath, $"Position{positionIndex + 1}_Original");
+                string positionFolder = Path.Combine(Application.StartupPath, $"Position{positionIndex + 1}_Original_{cycleStartTime}");
                 if (!Directory.Exists(positionFolder))
                 {
                     Directory.CreateDirectory(positionFolder);
                 }
-                string fileName = $"Original_Pos{positionIndex + 1}_Cycle{currentCycle + 1}_{DateTime.Now:yyyyMMddHHmmss}.jpg";
+
+                string fileName = $"Original_Pos{positionIndex + 1}_Cycle{currentCycle}_{DateTime.Now:yyyyMMddHHmmss}.jpg";
                 string fullPath = Path.Combine(positionFolder, fileName);
+
                 ImageFormatInfo imageFormatInfo = new ImageFormatInfo();
                 imageFormatInfo.FormatType = ImageFormatType.Jpeg;
                 imageFormatInfo.JpegQuality = 90;
+
                 lock (saveImageLock)
                 {
                     int result = device.ImageSaver.SaveImageToFile(fullPath, frameForSave.Image, imageFormatInfo, CFAMethod.Optimal);
@@ -1457,54 +1583,55 @@ namespace HitBotCSharpDemo
             }
             return null;
         }
-        private void UpdateExcelFile()
-        {
-            try
-            {
-                ExcelPackage.LicenseContext = LicenseContext.NonCommercial; // 设置EPPlus许可证
 
-                FileInfo file = new FileInfo(xlsFilePath);
-                using (ExcelPackage package = new ExcelPackage(file))
-                {
-                    ExcelWorksheet worksheet;
+        //private void UpdateExcelFile()
+        //{
+        //    try
+        //    {
+        //        ExcelPackage.LicenseContext = LicenseContext.NonCommercial; // 设置EPPlus许可证
 
-                    if (package.Workbook.Worksheets.Count == 0)
-                    {
-                        // 创建新的工作表
-                        worksheet = package.Workbook.Worksheets.Add("检测结果");
+        //        FileInfo file = new FileInfo(xlsFilePath);
+        //        using (ExcelPackage package = new ExcelPackage(file))
+        //        {
+        //            ExcelWorksheet worksheet;
 
-                        // 设置表头
-                        worksheet.Cells[1, 1].Value = "循环次数";
-                        worksheet.Cells[1, 2].Value = "pos1_width";
-                        worksheet.Cells[1, 3].Value = "pos1_height";
-                        worksheet.Cells[1, 4].Value = "pos2_width";
-                        worksheet.Cells[1, 5].Value = "pos2_height";
-                        worksheet.Cells[1, 6].Value = "pos3_width";
-                        worksheet.Cells[1, 7].Value = "pos3_height";
-                        worksheet.Cells[1, 8].Value = "pos4_width";
-                        worksheet.Cells[1, 9].Value = "pos4_height";
-                    }
-                    else
-                    {
-                        worksheet = package.Workbook.Worksheets[0];
-                    }
-                    // 添加数据行
-                    int row = worksheet.Dimension?.Rows + 1 ?? 2;
-                    float[] lastCycleData = detectionData[detectionData.Count - 1];
+        //            if (package.Workbook.Worksheets.Count == 0)
+        //            {
+        //                // 创建新的工作表
+        //                worksheet = package.Workbook.Worksheets.Add("检测结果");
 
-                    worksheet.Cells[row, 1].Value = currentCycle;
-                    for (int i = 0; i < 8 && i < lastCycleData.Length; i++)
-                    {
-                        worksheet.Cells[row, i + 2].Value = lastCycleData[i];
-                    }
-                    package.Save();
-                }
-            }
-            catch (Exception ex)
-            {
-                MessageBox.Show("更新Excel文件失败: " + ex.Message);
-            }
-        }
+        //                // 设置表头
+        //                worksheet.Cells[1, 1].Value = "循环次数";
+        //                worksheet.Cells[1, 2].Value = "pos1_width";
+        //                worksheet.Cells[1, 3].Value = "pos1_height";
+        //                worksheet.Cells[1, 4].Value = "pos2_width";
+        //                worksheet.Cells[1, 5].Value = "pos2_height";
+        //                worksheet.Cells[1, 6].Value = "pos3_width";
+        //                worksheet.Cells[1, 7].Value = "pos3_height";
+        //                worksheet.Cells[1, 8].Value = "pos4_width";
+        //                worksheet.Cells[1, 9].Value = "pos4_height";
+        //            }
+        //            else
+        //            {
+        //                worksheet = package.Workbook.Worksheets[0];
+        //            }
+        //            // 添加数据行
+        //            int row = worksheet.Dimension?.Rows + 1 ?? 2;
+        //            float[] lastCycleData = detectionData[detectionData.Count - 1];
+
+        //            worksheet.Cells[row, 1].Value = currentCycle;
+        //            for (int i = 0; i < 8 && i < lastCycleData.Length; i++)
+        //            {
+        //                worksheet.Cells[row, i + 2].Value = lastCycleData[i];
+        //            }
+        //            package.Save();
+        //        }
+        //    }
+        //    catch (Exception ex)
+        //    {
+        //        MessageBox.Show("更新Excel文件失败: " + ex.Message);
+        //    }
+        //}
         private void StopCycle()
         {
             isCycleRunning = false;
@@ -1518,27 +1645,45 @@ namespace HitBotCSharpDemo
 
         private void checkBox1_CheckedChanged_1(object sender, EventArgs e)
         {
-
+            UpdateSelectedPositions();
         }
 
         private void checkBox2_CheckedChanged(object sender, EventArgs e)
         {
-
+            UpdateSelectedPositions();
         }
 
         private void checkBox3_CheckedChanged(object sender, EventArgs e)
         {
-
+            UpdateSelectedPositions();
         }
 
         private void checkBox4_CheckedChanged(object sender, EventArgs e)
         {
-
+            UpdateSelectedPositions();
         }
 
         private void textBox1_TextChanged(object sender, EventArgs e)
         {
+            // 更新停留时间
+            if (int.TryParse(textBox1.Text, out int minutes) && minutes > 0)
+            {
+                dwellTimeMinutes = minutes;
+            }
+            else if (!string.IsNullOrEmpty(textBox1.Text))
+            {
+                MessageBox.Show("请输入有效的停留时间（分钟数）");
+                textBox1.Text = dwellTimeMinutes.ToString();
+            }
+        }
+        private void UpdateSelectedPositions()
+        {
+            selectedPositions.Clear();
 
+            if (checkBox1.Checked) selectedPositions.Add(0); // 点位1
+            if (checkBox2.Checked) selectedPositions.Add(1); // 点位2
+            if (checkBox3.Checked) selectedPositions.Add(2); // 点位3
+            if (checkBox4.Checked) selectedPositions.Add(3); // 点位4
         }
     }
 }

HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-12.hilog

@@ -878,3 +878,341 @@
 2025-06-12 14:44:51.165	trail_number4.821995
 2025-06-12 14:44:51.165	tcp_distance 482.199493
 2025-06-12 14:44:51.165	angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
+2025-06-12 15:56:52.883	SDK_VERSION_V2.0.0.29_Release
+2025-06-12 15:56:52.883	robot connected
+2025-06-12 15:56:52.883	26
+2025-06-12 15:56:52.884	current generation=26
+2025-06-12 15:56:53.390	0x1a
+2025-06-12 15:56:54.313	initial joint2 1021899
+2025-06-12 15:56:54.313	C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
+2025-06-12 15:56:54.314	robot WritePID
+2025-06-12 15:56:54.620	initial joint1 -924811
+2025-06-12 15:56:54.667	initial joint2 1021899
+2025-06-12 15:56:54.713	initial joint3 -219821
+2025-06-12 15:56:54.774	initial joint4 -23381087
+2025-06-12 15:56:54.804	initial joint1 -924786
+2025-06-12 15:56:54.851	initial joint2 1021901
+2025-06-12 15:56:54.896	initial joint3 -219823
+2025-06-12 15:56:54.941	initial joint4 -23381088
+2025-06-12 15:56:54.956	initial joint1 -924802
+2025-06-12 15:56:55.004	initial joint2 1021901
+2025-06-12 15:56:55.050	initial joint3 -219823
+2025-06-12 15:56:55.097	initial joint4 -23381089
+2025-06-12 15:56:57.283	initial_thread initialized
+2025-06-12 15:56:57.284	servo enable
+2025-06-12 15:56:57.284	brake open
+2025-06-12 15:56:57.284	set_brake_state 0 1
+2025-06-12 15:56:57.499	robot initialized
+2025-06-12 15:56:58.070	get_scara_param -63.502899 35.084202 -75.471199 -1005.723572
+2025-06-12 15:56:58.070	get_scara_real_coor -63.499500 35.084301 -75.470497 -1005.720215
+2025-06-12 15:56:58.070	<09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
+2025-06-12 15:56:58.071	position -924828.000000	1021901.437500	-219825.796875	-23381088.000000	0.000000	0.000000	0.000000	0.000000
+2025-06-12 15:56:58.071	speed 63502.898438	35084.199219	75471.195313	963271.187500
+2025-06-12 15:56:58.071	set_first_position_after_initial
+2025-06-12 15:56:58.073	movej_old start_pos:	-63.502899	35.084202	-75.471199	-1005.723572	end_pos:	-63.502899	35.084202	-75.471199	-1005.723572	org_sp	10.000000	end_sp	10.000000
+2025-06-12 15:56:58.362	J3 Belt Meilage=40.908783km
+2025-06-12 15:57:37.130	30	30	30	30
+2025-06-12 15:57:37.132	new_movej_xyz_lr 274.065002	-137.158203	-75.466103	-1005.721008	100.000000	0.000000	1
+2025-06-12 15:57:37.132	goal_angle -67.226128	86.401024
+2025-06-12 15:57:37.133	new_movej_angle -67.226128	86.401024	-75.466103	-1005.721008	0.000000	100.000000
+2025-06-12 15:57:37.134	z1 -75.471199 z2 -75.466103
+2025-06-12 15:57:37.134	angle1_1 -63.502899 angle2_1 35.084202 z1 -75.471199 r1 -1005.723572
+2025-06-12 15:57:37.134	angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
+2025-06-12 15:57:37.134	speed 100.000000
+2025-06-12 15:57:37.135	tcp_distance 158.919205
+2025-06-12 15:57:37.135	new_end_speed 100.000000 j1_acc_t 0.794596 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.124971
+2025-06-12 15:57:37.135	new_end_speed 100.000000 j2_acc_t 0.794596 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 70.636879
+2025-06-12 15:57:37.136	new_end_speed 100.000000 j3_acc_t 0.794596 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.007015
+2025-06-12 15:57:37.136	new_end_speed 100.000000 j4_acc_t 0.794596 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.003529
+2025-06-12 15:57:37.136	end_speed 100.000000
+2025-06-12 15:57:37.136	trail_number1.589192
+2025-06-12 15:57:37.137	tcp_distance 158.919205
+2025-06-12 15:57:37.138	angle1_1 = -63.502899 angle2_1 = 35.084202 z1 = -75.471199 r1 = -1005.723572 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
+2025-06-12 15:58:39.120	30	30	30	30
+2025-06-12 15:58:39.120	new_movej_xyz_lr 274.065002	5.965300	-75.466103	-1005.721008	100.000000	0.000000	1
+2025-06-12 15:58:39.122	goal_angle -44.911705	98.661697
+2025-06-12 15:58:39.122	new_movej_angle -44.911705	98.661697	-75.466103	-1005.721008	0.000000	100.000000
+2025-06-12 15:58:39.122	z1 -75.466103 z2 -75.466103
+2025-06-12 15:58:39.122	angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
+2025-06-12 15:58:39.123	angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
+2025-06-12 15:58:39.123	speed 100.000000
+2025-06-12 15:58:39.123	tcp_distance 144.069748
+2025-06-12 15:58:39.123	new_end_speed 100.000000 j1_acc_t 0.720349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.881371
+2025-06-12 15:58:39.123	new_end_speed 100.000000 j2_acc_t 0.720349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.616140
+2025-06-12 15:58:39.123	new_end_speed 100.000000 j3_acc_t 0.720349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
+2025-06-12 15:58:39.124	new_end_speed 100.000000 j4_acc_t 0.720349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
+2025-06-12 15:58:39.124	end_speed 100.000000
+2025-06-12 15:58:39.124	trail_number1.440697
+2025-06-12 15:58:39.124	tcp_distance 144.069748
+2025-06-12 15:58:39.125	angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
+2025-06-12 15:59:40.813	30	30	30	30
+2025-06-12 15:59:40.814	new_movej_xyz_lr 274.065002	149.383698	-75.466103	-1005.721008	100.000000	0.000000	1
+2025-06-12 15:59:40.814	goal_angle -11.002804	84.112190
+2025-06-12 15:59:40.814	new_movej_angle -11.002804	84.112190	-75.466103	-1005.721008	0.000000	100.000000
+2025-06-12 15:59:40.814	z1 -75.466103 z2 -75.466103
+2025-06-12 15:59:40.814	angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
+2025-06-12 15:59:40.815	angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
+2025-06-12 15:59:40.815	speed 100.000000
+2025-06-12 15:59:40.815	tcp_distance 144.322098
+2025-06-12 15:59:40.815	new_end_speed 100.000000 j1_acc_t 0.721610 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.395920
+2025-06-12 15:59:40.815	new_end_speed 100.000000 j2_acc_t 0.721610 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.052773
+2025-06-12 15:59:40.816	new_end_speed 100.000000 j3_acc_t 0.721610 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
+2025-06-12 15:59:40.816	new_end_speed 100.000000 j4_acc_t 0.721610 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
+2025-06-12 15:59:40.816	end_speed 100.000000
+2025-06-12 15:59:40.816	trail_number1.443221
+2025-06-12 15:59:40.816	tcp_distance 144.322098
+2025-06-12 15:59:40.817	angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
+2025-06-12 16:00:42.911	30	30	30	30
+2025-06-12 16:00:42.911	new_movej_xyz_lr 274.065002	-137.158203	-75.466103	-1005.721008	100.000000	0.000000	1
+2025-06-12 16:00:42.911	goal_angle -67.226128	86.401024
+2025-06-12 16:00:42.912	new_movej_angle -67.226128	86.401024	-75.466103	-1005.721008	0.000000	100.000000
+2025-06-12 16:00:42.912	z1 -75.466103 z2 -75.466103
+2025-06-12 16:00:42.912	angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
+2025-06-12 16:00:42.912	angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
+2025-06-12 16:00:42.912	speed 100.000000
+2025-06-12 16:00:42.913	tcp_distance 296.299744
+2025-06-12 16:00:42.913	new_end_speed 100.000000 j1_acc_t 1.481499 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 41.508110
+2025-06-12 16:00:42.913	new_end_speed 100.000000 j2_acc_t 1.481499 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.689782
+2025-06-12 16:00:42.913	new_end_speed 100.000000 j3_acc_t 1.481499 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
+2025-06-12 16:00:42.914	new_end_speed 100.000000 j4_acc_t 1.481499 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
+2025-06-12 16:00:42.914	end_speed 100.000000
+2025-06-12 16:00:42.914	trail_number2.962997
+2025-06-12 16:00:42.914	tcp_distance 296.299744
+2025-06-12 16:00:42.915	angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
+2025-06-12 16:01:46.105	30	30	30	30
+2025-06-12 16:01:46.107	new_movej_xyz_lr 274.065002	5.965300	-75.466103	-1005.721008	100.000000	0.000000	1
+2025-06-12 16:01:46.107	goal_angle -44.911705	98.661697
+2025-06-12 16:01:46.107	new_movej_angle -44.911705	98.661697	-75.466103	-1005.721008	0.000000	100.000000
+2025-06-12 16:01:46.107	z1 -75.466103 z2 -75.466103
+2025-06-12 16:01:46.107	angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
+2025-06-12 16:01:46.108	angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
+2025-06-12 16:01:46.110	speed 100.000000
+2025-06-12 16:01:46.111	tcp_distance 144.069748
+2025-06-12 16:01:46.111	new_end_speed 100.000000 j1_acc_t 0.720349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.881371
+2025-06-12 16:01:46.111	new_end_speed 100.000000 j2_acc_t 0.720349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.616140
+2025-06-12 16:01:46.111	new_end_speed 100.000000 j3_acc_t 0.720349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
+2025-06-12 16:01:46.111	new_end_speed 100.000000 j4_acc_t 0.720349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
+2025-06-12 16:01:46.111	end_speed 100.000000
+2025-06-12 16:01:46.111	trail_number1.440697
+2025-06-12 16:01:46.112	tcp_distance 144.069748
+2025-06-12 16:01:46.112	angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
+2025-06-12 16:02:47.794	30	30	30	30
+2025-06-12 16:02:47.796	new_movej_xyz_lr 274.065002	149.383698	-75.466103	-1005.721008	100.000000	0.000000	1
+2025-06-12 16:02:47.796	goal_angle -11.002804	84.112190
+2025-06-12 16:02:47.796	new_movej_angle -11.002804	84.112190	-75.466103	-1005.721008	0.000000	100.000000
+2025-06-12 16:02:47.798	z1 -75.466103 z2 -75.466103
+2025-06-12 16:02:47.798	angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
+2025-06-12 16:02:47.798	angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
+2025-06-12 16:02:47.798	speed 100.000000
+2025-06-12 16:02:47.799	tcp_distance 144.322098
+2025-06-12 16:02:47.799	new_end_speed 100.000000 j1_acc_t 0.721610 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.395920
+2025-06-12 16:02:47.799	new_end_speed 100.000000 j2_acc_t 0.721610 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.052773
+2025-06-12 16:02:47.799	new_end_speed 100.000000 j3_acc_t 0.721610 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
+2025-06-12 16:02:47.800	new_end_speed 100.000000 j4_acc_t 0.721610 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
+2025-06-12 16:02:47.800	end_speed 100.000000
+2025-06-12 16:02:47.800	trail_number1.443221
+2025-06-12 16:02:47.800	tcp_distance 144.322098
+2025-06-12 16:02:47.801	angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
+2025-06-12 16:03:49.588	30	30	30	30
+2025-06-12 16:03:49.588	new_movej_xyz_lr 274.065002	-137.158203	-75.466103	-1005.721008	100.000000	0.000000	1
+2025-06-12 16:03:49.588	goal_angle -67.226128	86.401024
+2025-06-12 16:03:49.588	new_movej_angle -67.226128	86.401024	-75.466103	-1005.721008	0.000000	100.000000
+2025-06-12 16:03:49.589	z1 -75.466103 z2 -75.466103
+2025-06-12 16:03:49.589	angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
+2025-06-12 16:03:49.590	angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
+2025-06-12 16:03:49.590	speed 100.000000
+2025-06-12 16:03:49.590	tcp_distance 296.299744
+2025-06-12 16:03:49.590	new_end_speed 100.000000 j1_acc_t 1.481499 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 41.508110
+2025-06-12 16:03:49.591	new_end_speed 100.000000 j2_acc_t 1.481499 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.689782
+2025-06-12 16:03:49.591	new_end_speed 100.000000 j3_acc_t 1.481499 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
+2025-06-12 16:03:49.591	new_end_speed 100.000000 j4_acc_t 1.481499 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
+2025-06-12 16:03:49.591	end_speed 100.000000
+2025-06-12 16:03:49.591	trail_number2.962997
+2025-06-12 16:03:49.592	tcp_distance 296.299744
+2025-06-12 16:03:49.592	angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
+2025-06-12 16:04:33.587	30	30	30	30
+2025-06-12 16:04:33.588	new_movej_xyz_lr 274.065002	-292.061096	-75.466103	-1005.721008	100.000000	0.000000	1
+2025-06-12 16:04:33.588	goal_angle -63.500324	35.083988
+2025-06-12 16:04:33.588	new_movej_angle -63.500324	35.083988	-75.466103	-1005.721008	0.000000	100.000000
+2025-06-12 16:04:33.589	z1 -75.466103 z2 -75.466103
+2025-06-12 16:04:33.589	angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
+2025-06-12 16:04:33.589	angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008
+2025-06-12 16:04:33.589	speed 100.000000
+2025-06-12 16:04:33.589	tcp_distance 158.969009
+2025-06-12 16:04:33.589	new_end_speed 100.000000 j1_acc_t 0.794845 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.126908
+2025-06-12 16:04:33.590	new_end_speed 100.000000 j2_acc_t 0.794845 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 70.615028
+2025-06-12 16:04:33.590	new_end_speed 100.000000 j3_acc_t 0.794845 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
+2025-06-12 16:04:33.590	new_end_speed 100.000000 j4_acc_t 0.794845 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
+2025-06-12 16:04:33.590	end_speed 100.000000
+2025-06-12 16:04:33.590	trail_number1.589690
+2025-06-12 16:04:33.590	tcp_distance 158.969009
+2025-06-12 16:04:33.590	angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
+2025-06-12 16:06:35.453	30	30	30	30
+2025-06-12 16:06:35.454	new_movej_xyz_lr 274.065002	149.383698	-75.466103	-1005.721008	100.000000	0.000000	1
+2025-06-12 16:06:35.454	goal_angle -11.002804	84.112190
+2025-06-12 16:06:35.454	new_movej_angle -11.002804	84.112190	-75.466103	-1005.721008	0.000000	100.000000
+2025-06-12 16:06:35.454	z1 -75.466103 z2 -75.466103
+2025-06-12 16:06:35.454	angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008
+2025-06-12 16:06:35.454	angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
+2025-06-12 16:06:35.454	speed 100.000000
+2025-06-12 16:06:35.455	tcp_distance 482.789551
+2025-06-12 16:06:35.455	new_end_speed 100.000000 j1_acc_t 2.413948 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 23.786404
+2025-06-12 16:06:35.455	new_end_speed 100.000000 j2_acc_t 2.413948 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.214470
+2025-06-12 16:06:35.455	new_end_speed 100.000000 j3_acc_t 2.413948 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
+2025-06-12 16:06:35.456	new_end_speed 100.000000 j4_acc_t 2.413948 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
+2025-06-12 16:06:35.456	end_speed 100.000000
+2025-06-12 16:06:35.456	trail_number4.827896
+2025-06-12 16:06:35.456	tcp_distance 482.789551
+2025-06-12 16:06:35.457	angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
+2025-06-12 16:07:41.470	30	30	30	30
+2025-06-12 16:07:41.470	new_movej_xyz_lr 93.989304	-37.882999	-4.457100	-1027.920044	100.000000	0.000000	1
+2025-06-12 16:07:41.470	goal_angle -87.199585	152.604431
+2025-06-12 16:07:41.471	new_movej_angle -87.199585	152.604431	-4.457100	-1027.920044	0.000000	100.000000
+2025-06-12 16:07:41.471	z1 -75.466103 z2 -4.457100
+2025-06-12 16:07:41.471	angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
+2025-06-12 16:07:41.471	angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
+2025-06-12 16:07:41.472	speed 100.000000
+2025-06-12 16:07:41.472	tcp_distance 288.737366
+2025-06-12 16:07:41.472	new_end_speed 100.000000 j1_acc_t 1.443687 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 57.727364
+2025-06-12 16:07:41.472	new_end_speed 100.000000 j2_acc_t 1.443687 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 51.890335
+2025-06-12 16:07:41.472	new_end_speed 100.000000 j3_acc_t 1.443687 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 53.797054
+2025-06-12 16:07:41.472	new_end_speed 100.000000 j4_acc_t 1.443687 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 16.818187
+2025-06-12 16:07:41.474	end_speed 100.000000
+2025-06-12 16:07:41.474	trail_number2.887374
+2025-06-12 16:07:41.474	tcp_distance 288.737366
+2025-06-12 16:07:41.474	angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
+2025-06-12 16:17:10.183	SDK_VERSION_V2.0.0.29_Release
+2025-06-12 16:17:10.183	robot connected
+2025-06-12 16:17:10.184	26
+2025-06-12 16:17:10.184	current generation=26
+2025-06-12 16:17:10.697	0x1a
+2025-06-12 16:17:11.558	initial joint2 4444930
+2025-06-12 16:17:11.559	C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
+2025-06-12 16:17:11.559	robot WritePID
+2025-06-12 16:17:11.864	initial joint1 -1269935
+2025-06-12 16:17:11.910	initial joint2 4444931
+2025-06-12 16:17:11.956	initial joint3 -12991
+2025-06-12 16:17:12.003	initial joint4 -25056188
+2025-06-12 16:17:12.018	initial joint1 -1269935
+2025-06-12 16:17:12.062	initial joint2 4444933
+2025-06-12 16:17:12.109	initial joint3 -12991
+2025-06-12 16:17:12.156	initial joint4 -25056188
+2025-06-12 16:17:12.172	initial joint1 -1269935
+2025-06-12 16:17:12.218	initial joint2 4444934
+2025-06-12 16:17:12.264	initial joint3 -12991
+2025-06-12 16:17:12.310	initial joint4 -25056190
+2025-06-12 16:17:14.496	initial_thread initialized
+2025-06-12 16:17:14.496	servo enable
+2025-06-12 16:17:14.497	brake open
+2025-06-12 16:17:14.497	set_brake_state 0 1
+2025-06-12 16:17:14.710	robot initialized
+2025-06-12 16:17:15.268	get_scara_param -87.199501 152.604706 -4.460100 -1027.919922
+2025-06-12 16:17:15.268	get_scara_real_coor -87.199501 152.604797 -4.460100 -1027.920044
+2025-06-12 16:17:15.269	<09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
+2025-06-12 16:17:15.269	position -1269934.750000	4444934.500000	-12990.983398	-25056190.000000	-248771.734375	2609105.250000	-203310.125000	-25344376.000000
+2025-06-12 16:17:15.269	speed 70117.695313	63028.195313	65340.890625	11872.897461
+2025-06-12 16:17:15.269	set_first_position_after_initial
+2025-06-12 16:17:15.270	movej_old start_pos:	-87.199501	152.604721	-4.460100	-1027.919922	end_pos:	-87.199501	152.604721	-4.460100	-1027.919922	org_sp	10.000000	end_sp	10.000000
+2025-06-12 16:17:15.562	J3 Belt Meilage=40.908985km
+2025-06-12 16:17:25.528	30	30	30	30
+2025-06-12 16:17:25.528	new_movej_xyz_lr 274.065002	-137.158203	-75.466103	-1005.721008	100.000000	0.000000	1
+2025-06-12 16:17:25.528	goal_angle -67.226128	86.401024
+2025-06-12 16:17:25.530	new_movej_angle -67.226128	86.401024	-75.466103	-1005.721008	0.000000	100.000000
+2025-06-12 16:17:25.530	z1 -4.460100 z2 -75.466103
+2025-06-12 16:17:25.530	angle1_1 -87.199501 angle2_1 152.604721 z1 -4.460100 r1 -1027.919922
+2025-06-12 16:17:25.530	angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
+2025-06-12 16:17:25.531	speed 100.000000
+2025-06-12 16:17:25.531	tcp_distance 218.567551
+2025-06-12 16:17:25.531	new_end_speed 100.000000 j1_acc_t 1.092838 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 19.990055
+2025-06-12 16:17:25.532	new_end_speed 100.000000 j2_acc_t 1.092838 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 66.258987
+2025-06-12 16:17:25.532	new_end_speed 100.000000 j3_acc_t 1.092838 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 71.065308
+2025-06-12 16:17:25.532	new_end_speed 100.000000 j4_acc_t 1.092838 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 22.217443
+2025-06-12 16:17:25.532	end_speed 100.000000
+2025-06-12 16:17:25.532	trail_number2.185676
+2025-06-12 16:17:25.533	tcp_distance 218.567551
+2025-06-12 16:17:25.533	angle1_1 = -87.199501 angle2_1 = 152.604721 z1 = -4.460100 r1 = -1027.919922 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
+2025-06-12 16:18:27.995	30	30	30	30
+2025-06-12 16:18:27.995	new_movej_xyz_lr 274.065002	149.383698	-75.466103	-1005.721008	100.000000	0.000000	1
+2025-06-12 16:18:27.995	goal_angle -11.002804	84.112190
+2025-06-12 16:18:27.995	new_movej_angle -11.002804	84.112190	-75.466103	-1005.721008	0.000000	100.000000
+2025-06-12 16:18:27.995	z1 -75.466103 z2 -75.466103
+2025-06-12 16:18:27.997	angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
+2025-06-12 16:18:27.997	angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
+2025-06-12 16:18:27.997	speed 100.000000
+2025-06-12 16:18:27.997	tcp_distance 296.269745
+2025-06-12 16:18:27.997	new_end_speed 100.000000 j1_acc_t 1.481349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 41.512333
+2025-06-12 16:18:27.998	new_end_speed 100.000000 j2_acc_t 1.481349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.689954
+2025-06-12 16:18:27.998	new_end_speed 100.000000 j3_acc_t 1.481349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
+2025-06-12 16:18:27.998	new_end_speed 100.000000 j4_acc_t 1.481349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
+2025-06-12 16:18:27.998	end_speed 100.000000
+2025-06-12 16:18:27.998	trail_number2.962698
+2025-06-12 16:18:27.998	tcp_distance 296.269745
+2025-06-12 16:18:27.999	angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
+2025-06-12 16:19:31.437	30	30	30	30
+2025-06-12 16:19:31.437	new_movej_xyz_lr 274.065002	-137.158203	-75.466103	-1005.721008	100.000000	0.000000	1
+2025-06-12 16:19:31.437	goal_angle -67.226128	86.401024
+2025-06-12 16:19:31.437	new_movej_angle -67.226128	86.401024	-75.466103	-1005.721008	0.000000	100.000000
+2025-06-12 16:19:31.438	z1 -75.466103 z2 -75.466103
+2025-06-12 16:19:31.438	angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
+2025-06-12 16:19:31.439	angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
+2025-06-12 16:19:31.439	speed 100.000000
+2025-06-12 16:19:31.439	tcp_distance 296.299744
+2025-06-12 16:19:31.439	new_end_speed 100.000000 j1_acc_t 1.481499 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 41.508110
+2025-06-12 16:19:31.439	new_end_speed 100.000000 j2_acc_t 1.481499 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.689782
+2025-06-12 16:19:31.439	new_end_speed 100.000000 j3_acc_t 1.481499 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
+2025-06-12 16:19:31.440	new_end_speed 100.000000 j4_acc_t 1.481499 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
+2025-06-12 16:19:31.440	end_speed 100.000000
+2025-06-12 16:19:31.440	trail_number2.962997
+2025-06-12 16:19:31.440	tcp_distance 296.299744
+2025-06-12 16:19:31.440	angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
+2025-06-12 16:20:34.626	30	30	30	30
+2025-06-12 16:20:34.626	new_movej_xyz_lr 274.065002	149.383698	-75.466103	-1005.721008	100.000000	0.000000	1
+2025-06-12 16:20:34.626	goal_angle -11.002804	84.112190
+2025-06-12 16:20:34.628	new_movej_angle -11.002804	84.112190	-75.466103	-1005.721008	0.000000	100.000000
+2025-06-12 16:20:34.628	z1 -75.466103 z2 -75.466103
+2025-06-12 16:20:34.628	angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
+2025-06-12 16:20:34.628	angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
+2025-06-12 16:20:34.628	speed 100.000000
+2025-06-12 16:20:34.628	tcp_distance 296.269745
+2025-06-12 16:20:34.629	new_end_speed 100.000000 j1_acc_t 1.481349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 41.512333
+2025-06-12 16:20:34.629	new_end_speed 100.000000 j2_acc_t 1.481349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.689954
+2025-06-12 16:20:34.629	new_end_speed 100.000000 j3_acc_t 1.481349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
+2025-06-12 16:20:34.629	new_end_speed 100.000000 j4_acc_t 1.481349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
+2025-06-12 16:20:34.629	end_speed 100.000000
+2025-06-12 16:20:34.630	trail_number2.962698
+2025-06-12 16:20:34.630	tcp_distance 296.269745
+2025-06-12 16:20:34.630	angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
+2025-06-12 16:21:37.966	30	30	30	30
+2025-06-12 16:21:37.966	new_movej_xyz_lr 274.065002	-137.158203	-75.466103	-1005.721008	100.000000	0.000000	1
+2025-06-12 16:21:37.966	goal_angle -67.226128	86.401024
+2025-06-12 16:21:37.966	new_movej_angle -67.226128	86.401024	-75.466103	-1005.721008	0.000000	100.000000
+2025-06-12 16:21:37.966	z1 -75.466103 z2 -75.466103
+2025-06-12 16:21:37.967	angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
+2025-06-12 16:21:37.967	angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
+2025-06-12 16:21:37.968	speed 100.000000
+2025-06-12 16:21:37.968	tcp_distance 296.299744
+2025-06-12 16:21:37.968	new_end_speed 100.000000 j1_acc_t 1.481499 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 41.508110
+2025-06-12 16:21:37.968	new_end_speed 100.000000 j2_acc_t 1.481499 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.689782
+2025-06-12 16:21:37.968	new_end_speed 100.000000 j3_acc_t 1.481499 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
+2025-06-12 16:21:37.968	new_end_speed 100.000000 j4_acc_t 1.481499 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
+2025-06-12 16:21:37.969	end_speed 100.000000
+2025-06-12 16:21:37.969	trail_number2.962997
+2025-06-12 16:21:37.969	tcp_distance 296.299744
+2025-06-12 16:21:37.969	angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
+2025-06-12 16:22:33.680	30	30	30	30
+2025-06-12 16:22:33.680	new_movej_xyz_lr 93.989304	-37.882999	-4.457100	-1027.920044	100.000000	0.000000	1
+2025-06-12 16:22:33.680	goal_angle -87.199585	152.604431
+2025-06-12 16:22:33.681	new_movej_angle -87.199585	152.604431	-4.457100	-1027.920044	0.000000	100.000000
+2025-06-12 16:22:33.681	z1 -75.466103 z2 -4.457100
+2025-06-12 16:22:33.681	angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
+2025-06-12 16:22:33.682	angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
+2025-06-12 16:22:33.682	speed 100.000000
+2025-06-12 16:22:33.682	tcp_distance 218.265945
+2025-06-12 16:22:33.682	new_end_speed 100.000000 j1_acc_t 1.091330 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 20.017746
+2025-06-12 16:22:33.682	new_end_speed 100.000000 j2_acc_t 1.091330 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 66.350204
+2025-06-12 16:22:33.682	new_end_speed 100.000000 j3_acc_t 1.091330 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 71.166458
+2025-06-12 16:22:33.683	new_end_speed 100.000000 j4_acc_t 1.091330 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 22.248268
+2025-06-12 16:22:33.683	end_speed 100.000000
+2025-06-12 16:22:33.683	trail_number2.182659
+2025-06-12 16:22:33.683	tcp_distance 218.265945
+2025-06-12 16:22:33.684	angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044