diff --git a/HitBotCSharpDemo/bin/x64/Debug/OriginalImages/temp_detection_20250611160124.jpg b/HitBotCSharpDemo/bin/x64/Debug/OriginalImages/temp_detection_20250611160124.jpg new file mode 100644 index 0000000..456d468 Binary files /dev/null and b/HitBotCSharpDemo/bin/x64/Debug/OriginalImages/temp_detection_20250611160124.jpg differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/OriginalImages/temp_detection_20250611160134.jpg b/HitBotCSharpDemo/bin/x64/Debug/OriginalImages/temp_detection_20250611160134.jpg new file mode 100644 index 0000000..ff000d8 Binary files /dev/null and b/HitBotCSharpDemo/bin/x64/Debug/OriginalImages/temp_detection_20250611160134.jpg differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/OriginalImages/temp_detection_20250611160145.jpg b/HitBotCSharpDemo/bin/x64/Debug/OriginalImages/temp_detection_20250611160145.jpg new file mode 100644 index 0000000..96da9f4 Binary files /dev/null and b/HitBotCSharpDemo/bin/x64/Debug/OriginalImages/temp_detection_20250611160145.jpg differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/OriginalImages/temp_detection_20250611160153.jpg b/HitBotCSharpDemo/bin/x64/Debug/OriginalImages/temp_detection_20250611160153.jpg new file mode 100644 index 0000000..019891f Binary files /dev/null and b/HitBotCSharpDemo/bin/x64/Debug/OriginalImages/temp_detection_20250611160153.jpg differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/ReceiveImages/received_detection_20250611160127.jpg b/HitBotCSharpDemo/bin/x64/Debug/ReceiveImages/received_detection_20250611160127.jpg new file mode 100644 index 0000000..ca6e922 Binary files /dev/null and b/HitBotCSharpDemo/bin/x64/Debug/ReceiveImages/received_detection_20250611160127.jpg differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/ReceiveImages/received_detection_20250611160135.jpg b/HitBotCSharpDemo/bin/x64/Debug/ReceiveImages/received_detection_20250611160135.jpg new file mode 100644 index 0000000..38a8f39 Binary files /dev/null and b/HitBotCSharpDemo/bin/x64/Debug/ReceiveImages/received_detection_20250611160135.jpg differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/ReceiveImages/received_detection_20250611160146.jpg b/HitBotCSharpDemo/bin/x64/Debug/ReceiveImages/received_detection_20250611160146.jpg new file mode 100644 index 0000000..ba1c14b Binary files /dev/null and b/HitBotCSharpDemo/bin/x64/Debug/ReceiveImages/received_detection_20250611160146.jpg differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/ReceiveImages/received_detection_20250611160154.jpg b/HitBotCSharpDemo/bin/x64/Debug/ReceiveImages/received_detection_20250611160154.jpg new file mode 100644 index 0000000..4e15054 Binary files /dev/null and b/HitBotCSharpDemo/bin/x64/Debug/ReceiveImages/received_detection_20250611160154.jpg differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-11.hilog b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-11.hilog index 9b41d29..20844e5 100644 --- a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-11.hilog +++ b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-11.hilog @@ -1088,3 +1088,189 @@ 2025-06-11 15:55:54.190 set_first_position_after_initial 2025-06-11 15:55:54.190 movej_old start_pos: -87.199501 152.604721 -4.461100 -1027.919922 end_pos: -87.199501 152.604721 -4.461100 -1027.919922 org_sp 10.000000 end_sp 10.000000 2025-06-11 15:55:54.488 J3 Belt Meilage=40.903347km +2025-06-11 16:00:40.335 SDK_VERSION_V2.0.0.29_Release +2025-06-11 16:00:40.335 robot connected +2025-06-11 16:00:40.335 26 +2025-06-11 16:00:40.335 current generation=26 +2025-06-11 16:00:40.851 0x1a +2025-06-11 16:00:41.720 initial joint2 4444939 +2025-06-11 16:00:41.721 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-11 16:00:41.721 robot WritePID +2025-06-11 16:00:42.023 initial joint1 -1269934 +2025-06-11 16:00:42.073 initial joint2 4444938 +2025-06-11 16:00:42.122 initial joint3 -12994 +2025-06-11 16:00:42.173 initial joint4 -25056189 +2025-06-11 16:00:42.188 initial joint1 -1269934 +2025-06-11 16:00:42.239 initial joint2 4444940 +2025-06-11 16:00:42.289 initial joint3 -12994 +2025-06-11 16:00:42.356 initial joint4 -25056190 +2025-06-11 16:00:42.374 initial joint1 -1269935 +2025-06-11 16:00:42.423 initial joint2 4444942 +2025-06-11 16:00:42.462 initial joint3 -12994 +2025-06-11 16:00:42.507 initial joint4 -25056191 +2025-06-11 16:00:44.594 initial_thread initialized +2025-06-11 16:00:44.594 servo enable +2025-06-11 16:00:44.594 brake open +2025-06-11 16:00:44.594 set_brake_state 0 1 +2025-06-11 16:00:44.810 robot initialized +2025-06-11 16:00:45.392 get_scara_param -87.199501 152.604996 -4.461400 -1027.919800 +2025-06-11 16:00:45.392 get_scara_real_coor -87.199501 152.604996 -4.461400 -1027.919800 +2025-06-11 16:00:45.392 上位机离散数据 +2025-06-11 16:00:45.392 position -1269934.750000 4444942.500000 -12994.769531 -25056192.000000 0.000000 0.000000 0.000000 0.000000 +2025-06-11 16:00:45.392 speed 87199.500000 152604.984375 4461.399902 1032283.375000 +2025-06-11 16:00:45.393 set_first_position_after_initial +2025-06-11 16:00:45.393 movej_old start_pos: -87.199501 152.604996 -4.461400 -1027.919800 end_pos: -87.199501 152.604996 -4.461400 -1027.919800 org_sp 10.000000 end_sp 10.000000 +2025-06-11 16:00:45.667 J3 Belt Meilage=40.903397km +2025-06-11 16:00:50.268 30 30 30 30 +2025-06-11 16:00:50.269 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1 +2025-06-11 16:00:50.269 goal_angle -63.500324 35.083988 +2025-06-11 16:00:50.276 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000 +2025-06-11 16:00:50.281 z1 -4.461400 z2 -75.466103 +2025-06-11 16:00:50.281 angle1_1 -87.199501 angle2_1 152.604996 z1 -4.461400 r1 -1027.919800 +2025-06-11 16:00:50.281 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008 +2025-06-11 16:00:50.281 speed 100.000000 +2025-06-11 16:00:50.282 tcp_distance 347.516388 +2025-06-11 16:00:50.282 new_end_speed 100.000000 j1_acc_t 1.737582 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.917840 +2025-06-11 16:00:50.282 new_end_speed 100.000000 j2_acc_t 1.737582 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 73.975548 +2025-06-11 16:00:50.282 new_end_speed 100.000000 j3_acc_t 1.737582 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.695087 +2025-06-11 16:00:50.282 new_end_speed 100.000000 j4_acc_t 1.737582 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.973400 +2025-06-11 16:00:50.283 end_speed 100.000000 +2025-06-11 16:00:50.283 trail_number3.475164 +2025-06-11 16:00:50.283 tcp_distance 347.516388 +2025-06-11 16:00:50.283 angle1_1 = -87.199501 angle2_1 = 152.604996 z1 = -4.461400 r1 = -1027.919800 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008 +2025-06-11 16:01:02.057 30 30 30 30 +2025-06-11 16:01:02.057 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1 +2025-06-11 16:01:02.057 goal_angle -67.226128 86.401024 +2025-06-11 16:01:02.057 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000 +2025-06-11 16:01:02.057 z1 -75.466103 z2 -75.466103 +2025-06-11 16:01:02.058 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008 +2025-06-11 16:01:02.058 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008 +2025-06-11 16:01:02.058 speed 100.000000 +2025-06-11 16:01:02.058 tcp_distance 158.906982 +2025-06-11 16:01:02.058 new_end_speed 100.000000 j1_acc_t 0.794535 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.128908 +2025-06-11 16:01:02.059 new_end_speed 100.000000 j2_acc_t 0.794535 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 70.642578 +2025-06-11 16:01:02.059 new_end_speed 100.000000 j3_acc_t 0.794535 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-11 16:01:02.059 new_end_speed 100.000000 j4_acc_t 0.794535 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-11 16:01:02.059 end_speed 100.000000 +2025-06-11 16:01:02.059 trail_number1.589070 +2025-06-11 16:01:02.060 tcp_distance 158.906982 +2025-06-11 16:01:02.061 angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008 +2025-06-11 16:01:04.576 30 30 30 30 +2025-06-11 16:01:04.577 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1 +2025-06-11 16:01:04.577 goal_angle -44.911705 98.661697 +2025-06-11 16:01:04.577 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000 +2025-06-11 16:01:04.577 z1 -75.466103 z2 -75.466103 +2025-06-11 16:01:04.578 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008 +2025-06-11 16:01:04.578 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008 +2025-06-11 16:01:04.578 speed 100.000000 +2025-06-11 16:01:04.578 tcp_distance 144.069748 +2025-06-11 16:01:04.578 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 +2025-06-11 16:01:04.578 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 +2025-06-11 16:01:04.578 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 +2025-06-11 16:01:04.579 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 +2025-06-11 16:01:04.579 end_speed 100.000000 +2025-06-11 16:01:04.579 trail_number1.440697 +2025-06-11 16:01:04.579 tcp_distance 144.069748 +2025-06-11 16:01:04.580 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 +2025-06-11 16:01:06.772 30 30 30 30 +2025-06-11 16:01:06.772 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1 +2025-06-11 16:01:06.772 goal_angle -11.002804 84.112190 +2025-06-11 16:01:06.772 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000 +2025-06-11 16:01:06.772 z1 -75.466103 z2 -75.466103 +2025-06-11 16:01:06.772 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008 +2025-06-11 16:01:06.774 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008 +2025-06-11 16:01:06.774 speed 100.000000 +2025-06-11 16:01:06.774 tcp_distance 144.322098 +2025-06-11 16:01:06.774 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 +2025-06-11 16:01:06.774 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 +2025-06-11 16:01:06.774 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 +2025-06-11 16:01:06.774 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 +2025-06-11 16:01:06.774 end_speed 100.000000 +2025-06-11 16:01:06.774 trail_number1.443221 +2025-06-11 16:01:06.774 tcp_distance 144.322098 +2025-06-11 16:01:06.776 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 +2025-06-11 16:01:08.967 30 30 30 30 +2025-06-11 16:01:08.967 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1 +2025-06-11 16:01:08.967 goal_angle -87.199585 152.604431 +2025-06-11 16:01:08.969 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000 +2025-06-11 16:01:08.969 z1 -75.466103 z2 -4.457100 +2025-06-11 16:01:08.969 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008 +2025-06-11 16:01:08.969 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044 +2025-06-11 16:01:08.969 speed 100.000000 +2025-06-11 16:01:08.970 tcp_distance 288.737366 +2025-06-11 16:01:08.970 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 +2025-06-11 16:01:08.970 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 +2025-06-11 16:01:08.970 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 +2025-06-11 16:01:08.970 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 +2025-06-11 16:01:08.970 end_speed 100.000000 +2025-06-11 16:01:08.971 trail_number2.887374 +2025-06-11 16:01:08.971 tcp_distance 288.737366 +2025-06-11 16:01:08.971 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 +2025-06-11 16:01:18.896 30 30 30 30 +2025-06-11 16:01:18.896 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1 +2025-06-11 16:01:18.896 goal_angle -63.500324 35.083988 +2025-06-11 16:01:18.896 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000 +2025-06-11 16:01:18.896 z1 -4.457100 z2 -75.466103 +2025-06-11 16:01:18.896 angle1_1 -87.199585 angle2_1 152.604431 z1 -4.457100 r1 -1027.920044 +2025-06-11 16:01:18.896 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008 +2025-06-11 16:01:18.896 speed 100.000000 +2025-06-11 16:01:18.896 tcp_distance 347.514679 +2025-06-11 16:01:18.896 new_end_speed 100.000000 j1_acc_t 1.737573 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.917970 +2025-06-11 16:01:18.896 new_end_speed 100.000000 j2_acc_t 1.737573 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 73.975578 +2025-06-11 16:01:18.896 new_end_speed 100.000000 j3_acc_t 1.737573 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.698025 +2025-06-11 16:01:18.896 new_end_speed 100.000000 j4_acc_t 1.737573 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.973623 +2025-06-11 16:01:18.896 end_speed 100.000000 +2025-06-11 16:01:18.896 trail_number3.475147 +2025-06-11 16:01:18.896 tcp_distance 347.514679 +2025-06-11 16:01:18.896 angle1_1 = -87.199585 angle2_1 = 152.604431 z1 = -4.457100 r1 = -1027.920044 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008 +2025-06-11 16:01:28.712 30 30 30 30 +2025-06-11 16:01:28.712 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1 +2025-06-11 16:01:28.712 goal_angle -67.226128 86.401024 +2025-06-11 16:01:28.713 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000 +2025-06-11 16:01:28.713 z1 -75.466103 z2 -75.466103 +2025-06-11 16:01:28.713 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008 +2025-06-11 16:01:28.713 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008 +2025-06-11 16:01:28.713 speed 100.000000 +2025-06-11 16:01:28.714 tcp_distance 158.906982 +2025-06-11 16:01:28.714 new_end_speed 100.000000 j1_acc_t 0.794535 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.128908 +2025-06-11 16:01:28.714 new_end_speed 100.000000 j2_acc_t 0.794535 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 70.642578 +2025-06-11 16:01:28.714 new_end_speed 100.000000 j3_acc_t 0.794535 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-11 16:01:28.714 new_end_speed 100.000000 j4_acc_t 0.794535 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-11 16:01:28.714 end_speed 100.000000 +2025-06-11 16:01:28.715 trail_number1.589070 +2025-06-11 16:01:28.715 tcp_distance 158.906982 +2025-06-11 16:01:28.716 angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008 +2025-06-11 16:01:40.018 30 30 30 30 +2025-06-11 16:01:40.018 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1 +2025-06-11 16:01:40.018 goal_angle -44.911705 98.661697 +2025-06-11 16:01:40.018 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000 +2025-06-11 16:01:40.018 z1 -75.466103 z2 -75.466103 +2025-06-11 16:01:40.018 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008 +2025-06-11 16:01:40.018 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008 +2025-06-11 16:01:40.018 speed 100.000000 +2025-06-11 16:01:40.018 tcp_distance 144.069748 +2025-06-11 16:01:40.018 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 +2025-06-11 16:01:40.027 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 +2025-06-11 16:01:40.027 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 +2025-06-11 16:01:40.027 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 +2025-06-11 16:01:40.027 end_speed 100.000000 +2025-06-11 16:01:40.027 trail_number1.440697 +2025-06-11 16:01:40.027 tcp_distance 144.069748 +2025-06-11 16:01:40.027 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 +2025-06-11 16:01:48.415 30 30 30 30 +2025-06-11 16:01:48.415 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1 +2025-06-11 16:01:48.415 goal_angle -11.002804 84.112190 +2025-06-11 16:01:48.430 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000 +2025-06-11 16:01:48.430 z1 -75.466103 z2 -75.466103 +2025-06-11 16:01:48.430 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008 +2025-06-11 16:01:48.430 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008 +2025-06-11 16:01:48.430 speed 100.000000 +2025-06-11 16:01:48.430 tcp_distance 144.322098 +2025-06-11 16:01:48.430 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 +2025-06-11 16:01:48.430 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 +2025-06-11 16:01:48.430 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 +2025-06-11 16:01:48.430 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 +2025-06-11 16:01:48.430 end_speed 100.000000 +2025-06-11 16:01:48.430 trail_number1.443221 +2025-06-11 16:01:48.430 tcp_distance 144.322098 +2025-06-11 16:01:48.430 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