diff --git a/HitBotCSharpDemo/ShowForm.Designer.cs b/HitBotCSharpDemo/ShowForm.Designer.cs index 0921aa8..73e6b64 100644 --- a/HitBotCSharpDemo/ShowForm.Designer.cs +++ b/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 // diff --git a/HitBotCSharpDemo/ShowForm.cs b/HitBotCSharpDemo/ShowForm.cs index b5fce7d..2686e07 100644 --- a/HitBotCSharpDemo/ShowForm.cs +++ b/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 detectionData = new List(); // 存储每轮检测数据 private int currentCycle = 0; + private List selectedPositions = new List(); // 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(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 cycleResults = new Dictionary(); + // 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 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 } } } diff --git a/HitBotCSharpDemo/bin/x64/Debug/DetectionResults.xlsx b/HitBotCSharpDemo/bin/x64/Debug/DetectionResults.xlsx deleted file mode 100644 index a33a2d2..0000000 Binary files a/HitBotCSharpDemo/bin/x64/Debug/DetectionResults.xlsx and /dev/null differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe b/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe index 1bba82f..6d00740 100644 Binary files a/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe and b/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe differ 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differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/Position4_Results/Detection_Pos4_Cycle2_20250612100207.jpg b/HitBotCSharpDemo/bin/x64/Debug/Position4_Results/Detection_Pos4_Cycle2_20250612100207.jpg deleted file mode 100644 index a470d10..0000000 Binary files a/HitBotCSharpDemo/bin/x64/Debug/Position4_Results/Detection_Pos4_Cycle2_20250612100207.jpg and /dev/null differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/Position4_Results/Detection_Pos4_Cycle2_20250612101228.jpg b/HitBotCSharpDemo/bin/x64/Debug/Position4_Results/Detection_Pos4_Cycle2_20250612101228.jpg deleted file mode 100644 index 5409d6a..0000000 Binary files a/HitBotCSharpDemo/bin/x64/Debug/Position4_Results/Detection_Pos4_Cycle2_20250612101228.jpg and /dev/null differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-12.hilog b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-12.hilog index f7c51d0..e31b1ef 100644 --- a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-12.hilog +++ b/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 λɢ +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 λɢ +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 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