[20240630 23:34:41] Begin API Testing.
[20240630 23:34:55]: send is: {"command":"get_arm_software_info"}


[20240630 23:34:55]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/20 20:07:01","commit_id":"95e4b22","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/20 20:07:16","commit_id":"8d1269e","version":"V1.5.6"}}


[20240630 23:34:55]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/20 20:07:01","commit_id":"95e4b22","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/20 20:07:16","commit_id":"8d1269e","version":"V1.5.6"}}


[20240630 23:34:55]: [rm_get_arm_software_info] Product version: RM65-BI

[20240630 23:34:55]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240630 23:34:55]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240630 23:34:55]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/20 20:07:01

[20240630 23:34:55]: [rm_get_arm_software_info] Dynamic model version: 2

[20240630 23:34:55]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240630 23:34:55]: [rm_get_arm_software_info] Plan build Time: 2024/06/20 20:07:01

[20240630 23:34:55]: send is: {"command":"get_realtime_push"}


[20240630 23:34:55]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240630 23:34:55]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240630 23:34:55]: [rm_get_realtime_push] cycle parse result: 5

[20240630 23:34:55]: [rm_get_realtime_push] port parse result: 8089

[20240630 23:34:55]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240630 23:34:55]: [rm_get_realtime_push] enable parse result: 1

[20240630 23:34:55]: send is: {"command":"get_current_work_frame"}


[20240630 23:34:55]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240630 23:34:55]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240630 23:34:55]: [get_current_work_frame] Work frame Name: World

[20240630 23:34:55]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240630 23:34:55]: send is: {"command":"get_current_tool_frame"}


[20240630 23:34:55]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240630 23:34:55]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240630 23:34:55]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240630 23:34:55]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240630 23:34:55]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240630 23:34:55]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240630 23:34:55]: send is: {"command":"get_install_pose"}


[20240630 23:34:55]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240630 23:34:55]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240630 23:34:55]: [rm_get_install_pose] pose parse result:

[20240630 23:34:55]:  0

[20240630 23:34:55]:  0

[20240630 23:34:55]:  0

[20240630 23:34:55]: send is: {"command":"get_joint_min_pos"}


[20240630 23:34:55]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-108000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240630 23:34:55]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-108000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240630 23:34:55]: [rm_get_joint_min_pos] min_pos parse result:

[20240630 23:34:55]:  -108000

[20240630 23:34:55]:  -130000

[20240630 23:34:55]:  -135000

[20240630 23:34:55]:  -178000

[20240630 23:34:55]:  -128000

[20240630 23:34:55]:  -360000

[20240630 23:34:55]: send is: {"command":"get_joint_max_pos"}


[20240630 23:34:55]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240630 23:34:55]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240630 23:34:55]: [rm_get_joint_max_pos] max_pos parse result:

[20240630 23:34:55]:  178000

[20240630 23:34:55]:  130000

[20240630 23:34:55]:  135000

[20240630 23:34:55]:  178000

[20240630 23:34:55]:  128000

[20240630 23:34:55]:  360000

[20240630 23:34:55]: send is: {"command":"get_joint_max_acc"}


[20240630 23:34:55]: thread_socket_receive len 82 robot_handle: 1 message:{"joint_acc":[50000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240630 23:34:55]: thread_socket_receive len 82 robot_handle: 1 message:{"joint_acc":[50000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240630 23:34:55]: [rm_get_joint_max_acc] joint_acc parse result:

[20240630 23:34:55]:  50000

[20240630 23:34:55]:  100000

[20240630 23:34:55]:  100000

[20240630 23:34:55]:  100000

[20240630 23:34:55]:  100000

[20240630 23:34:55]:  100000

[20240630 23:34:55]: send is: {"command":"get_joint_max_speed"}


[20240630 23:34:56]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[15000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240630 23:34:56]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[15000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240630 23:34:56]: [rm_get_joint_max_speed] joint_speed parse result:

[20240630 23:34:56]:  15000

[20240630 23:34:56]:  30000

[20240630 23:34:56]:  37500

[20240630 23:34:56]:  37500

[20240630 23:34:56]:  37500

[20240630 23:34:56]:  37500

[20240630 23:34:57]: send is: {"command":"get_arm_run_mode"}


[20240630 23:34:57]: thread_socket_receive len 41 robot_handle: 1 message:{"command":"get_arm_run_mode","mode":1}


[20240630 23:34:57]: thread_socket_receive len 41 robot_handle: 1 message:{"command":"get_arm_run_mode","mode":1}


[20240630 23:34:57]: [rm_get_arm_run_mode] mode parse result: 1

[20240630 23:35:06]: send is: {"command":"get_tool_voltage"}


[20240630 23:35:06]: thread_socket_receive len 49 robot_handle: 1 message:{"state":"tool_voltage_state","voltage_type":3}


[20240630 23:35:06]: thread_socket_receive len 49 robot_handle: 1 message:{"state":"tool_voltage_state","voltage_type":3}


[20240630 23:35:06]: [rm_get_tool_voltage] voltage_type parse result: 3

[20240630 23:35:06]: send is: {"command":"set_lift_height","speed":50,"height":100}


[20240630 23:35:06]: send is: {"command":"set_gripper_release","speed":1000,"block":true}


[20240630 23:35:06]: thread_socket_receive len 40 robot_handle: 1 message:{"command":"set_gripper","state":true}


[20240630 23:35:06]: thread_socket_receive len 40 robot_handle: 1 message:{"command":"set_gripper","state":true}


[20240630 23:35:06]: [rm_set_gripper_release] state: true

[20240630 23:35:28]: send is: {"command":"movej","v":20,"joint":[0,10000,80000,0,90000,0],"trajectory_connect":0,"r":0}


[20240630 23:35:28]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240630 23:35:28]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240630 23:35:28]: [rm_movej] receive_state: true

[20240630 23:35:33]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240630 23:35:33]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240630 23:35:33]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240630 23:35:33]: send is: {"command":"get_current_arm_state"}


[20240630 23:35:33]: thread_socket_receive len 138 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[0,10026,79963,0,89879,0],"pose":[-254898,0,348626,3141,2,0],"sys_err":0},"state":"current_arm_state"}


[20240630 23:35:33]: thread_socket_receive len 138 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[0,10026,79963,0,89879,0],"pose":[-254898,0,348626,3141,2,0],"sys_err":0},"state":"current_arm_state"}


[20240630 23:35:33]: [rm_get_current_arm_state] arm_err parse result: 0

[20240630 23:35:33]: [rm_get_current_arm_state] sys_err parse result: 0

[20240630 23:35:33]: [rm_get_current_arm_state] joint parse result:

[20240630 23:35:33]:  0

[20240630 23:35:33]:  10026

[20240630 23:35:33]:  79963

[20240630 23:35:33]:  0

[20240630 23:35:33]:  89879

[20240630 23:35:33]:  0

[20240630 23:35:33]: [rm_get_current_arm_state] pose parse result:

[20240630 23:35:33]:  -254898

[20240630 23:35:33]:  0

[20240630 23:35:33]:  348626

[20240630 23:35:33]:  3141

[20240630 23:35:33]:  2

[20240630 23:35:33]:  0

[20240630 23:35:33]: send is: {"command":"movel","v":20,"pose":[-154898,0,348626,3141,2,0],"trajectory_connect":0,"r":0}


[20240630 23:35:33]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240630 23:35:33]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240630 23:35:33]: [rm_movel] receive_state: true

[20240630 23:35:33]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240630 23:35:33]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240630 23:35:33]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240630 23:35:33]: send is: {"command":"set_gripper_pick_on","speed":1000,"force":1000,"block":true}


[20240630 23:35:33]: thread_socket_receive len 40 robot_handle: 1 message:{"command":"set_gripper","state":true}


[20240630 23:35:33]: thread_socket_receive len 40 robot_handle: 1 message:{"command":"set_gripper","state":true}


[20240630 23:35:33]: [rm_set_gripper_pick_on] state: true

[20240630 23:35:56]: send is: {"command":"get_current_arm_state"}


[20240630 23:35:56]: thread_socket_receive len 142 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[4,-12502,101902,1,90466,4],"pose":[-154904,-14,348629,3141,2,0],"sys_err":0},"state":"current_arm_state"}


[20240630 23:35:56]: thread_socket_receive len 142 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[4,-12502,101902,1,90466,4],"pose":[-154904,-14,348629,3141,2,0],"sys_err":0},"state":"current_arm_state"}


[20240630 23:35:56]: [rm_get_current_arm_state] arm_err parse result: 0

[20240630 23:35:56]: [rm_get_current_arm_state] sys_err parse result: 0

[20240630 23:35:56]: [rm_get_current_arm_state] joint parse result:

[20240630 23:35:56]:  4

[20240630 23:35:56]:  -12502

[20240630 23:35:56]:  101902

[20240630 23:35:56]:  1

[20240630 23:35:56]:  90466

[20240630 23:35:56]:  4

[20240630 23:35:56]: [rm_get_current_arm_state] pose parse result:

[20240630 23:35:56]:  -154904

[20240630 23:35:56]:  -14

[20240630 23:35:56]:  348629

[20240630 23:35:56]:  3141

[20240630 23:35:56]:  2

[20240630 23:35:56]:  0

[20240630 23:35:56]: send is: {"command":"movel","v":20,"pose":[-254904,-14,348629,3141,2,0],"trajectory_connect":0,"r":0}


[20240630 23:35:56]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240630 23:35:56]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240630 23:35:56]: [rm_movel] receive_state: true

[20240630 23:35:56]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240630 23:35:56]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240630 23:35:56]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240630 23:35:56]: send is: {"command":"set_lift_height","speed":50,"height":500}


[20240630 23:36:19]: send is: {"command":"get_current_arm_state"}


[20240630 23:36:19]: thread_socket_receive len 140 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[5,10025,79962,0,89873,5],"pose":[-254912,-24,348637,3141,2,0],"sys_err":0},"state":"current_arm_state"}


[20240630 23:36:19]: thread_socket_receive len 140 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[5,10025,79962,0,89873,5],"pose":[-254912,-24,348637,3141,2,0],"sys_err":0},"state":"current_arm_state"}


[20240630 23:36:19]: [rm_get_current_arm_state] arm_err parse result: 0

[20240630 23:36:19]: [rm_get_current_arm_state] sys_err parse result: 0

[20240630 23:36:19]: [rm_get_current_arm_state] joint parse result:

[20240630 23:36:19]:  5

[20240630 23:36:19]:  10025

[20240630 23:36:19]:  79962

[20240630 23:36:19]:  0

[20240630 23:36:19]:  89873

[20240630 23:36:19]:  5

[20240630 23:36:19]: [rm_get_current_arm_state] pose parse result:

[20240630 23:36:19]:  -254912

[20240630 23:36:19]:  -24

[20240630 23:36:19]:  348637

[20240630 23:36:19]:  3141

[20240630 23:36:19]:  2

[20240630 23:36:19]:  0

[20240630 23:36:19]: send is: {"command":"movel","v":20,"pose":[-154912,-24,348637,3141,2,0],"trajectory_connect":0,"r":0}


[20240630 23:36:19]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240630 23:36:19]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240630 23:36:19]: [rm_movel] receive_state: true

[20240630 23:36:19]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240630 23:36:19]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240630 23:36:19]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240630 23:36:19]: send is: {"command":"set_gripper_release","speed":1000,"block":true}


[20240630 23:36:19]: thread_socket_receive len 40 robot_handle: 1 message:{"command":"set_gripper","state":true}


[20240630 23:36:19]: thread_socket_receive len 40 robot_handle: 1 message:{"command":"set_gripper","state":true}


[20240630 23:36:19]: [rm_set_gripper_release] state: true

[20240630 23:36:41]: send is: {"command":"get_current_arm_state"}


[20240630 23:36:41]: thread_socket_receive len 142 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[6,-12503,101903,0,90464,5],"pose":[-154905,-18,348628,3141,2,0],"sys_err":0},"state":"current_arm_state"}


[20240630 23:36:41]: thread_socket_receive len 142 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[6,-12503,101903,0,90464,5],"pose":[-154905,-18,348628,3141,2,0],"sys_err":0},"state":"current_arm_state"}


[20240630 23:36:41]: [rm_get_current_arm_state] arm_err parse result: 0

[20240630 23:36:41]: [rm_get_current_arm_state] sys_err parse result: 0

[20240630 23:36:41]: [rm_get_current_arm_state] joint parse result:

[20240630 23:36:41]:  6

[20240630 23:36:41]:  -12503

[20240630 23:36:41]:  101903

[20240630 23:36:41]:  0

[20240630 23:36:41]:  90464

[20240630 23:36:41]:  5

[20240630 23:36:41]: [rm_get_current_arm_state] pose parse result:

[20240630 23:36:41]:  -154905

[20240630 23:36:41]:  -18

[20240630 23:36:41]:  348628

[20240630 23:36:41]:  3141

[20240630 23:36:41]:  2

[20240630 23:36:41]:  0

[20240630 23:36:41]: send is: {"command":"movel","v":20,"pose":[-254905,-18,348628,3141,2,0],"trajectory_connect":0,"r":0}


[20240630 23:36:41]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240630 23:36:41]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240630 23:36:41]: [rm_movel] receive_state: true

[20240630 23:36:42]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240630 23:36:42]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240630 23:36:42]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240630 23:58:11] Begin API Testing.
[20240630 23:58:18]: send is: {"command":"get_arm_software_info"}


[20240630 23:58:18]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/20 20:07:01","commit_id":"95e4b22","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/20 20:07:16","commit_id":"8d1269e","version":"V1.5.6"}}


[20240630 23:58:18]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/20 20:07:01","commit_id":"95e4b22","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/20 20:07:16","commit_id":"8d1269e","version":"V1.5.6"}}


[20240630 23:58:18]: [rm_get_arm_software_info] Product version: RM65-BI

[20240630 23:58:18]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240630 23:58:18]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240630 23:58:18]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/20 20:07:01

[20240630 23:58:18]: [rm_get_arm_software_info] Dynamic model version: 2

[20240630 23:58:18]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240630 23:58:18]: [rm_get_arm_software_info] Plan build Time: 2024/06/20 20:07:01

[20240630 23:58:18]: send is: {"command":"get_realtime_push"}


[20240630 23:58:18]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240630 23:58:18]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240630 23:58:18]: [rm_get_realtime_push] cycle parse result: 5

[20240630 23:58:18]: [rm_get_realtime_push] port parse result: 8089

[20240630 23:58:18]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240630 23:58:18]: [rm_get_realtime_push] enable parse result: 1

[20240630 23:58:18]: send is: {"command":"get_current_work_frame"}


[20240630 23:58:18]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240630 23:58:18]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240630 23:58:18]: [get_current_work_frame] Work frame Name: World

[20240630 23:58:18]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240630 23:58:18]: send is: {"command":"get_current_tool_frame"}


[20240630 23:58:18]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240630 23:58:18]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240630 23:58:18]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240630 23:58:18]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240630 23:58:18]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240630 23:58:18]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240630 23:58:18]: send is: {"command":"get_install_pose"}


[20240630 23:58:18]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240630 23:58:18]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240630 23:58:18]: [rm_get_install_pose] pose parse result:

[20240630 23:58:18]:  0

[20240630 23:58:18]:  0

[20240630 23:58:18]:  0

[20240630 23:58:18]: send is: {"command":"get_joint_min_pos"}


[20240630 23:58:18]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-108000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240630 23:58:18]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-108000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240630 23:58:18]: [rm_get_joint_min_pos] min_pos parse result:

[20240630 23:58:18]:  -108000

[20240630 23:58:18]:  -130000

[20240630 23:58:18]:  -135000

[20240630 23:58:18]:  -178000

[20240630 23:58:18]:  -128000

[20240630 23:58:18]:  -360000

[20240630 23:58:18]: send is: {"command":"get_joint_max_pos"}


[20240630 23:58:18]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240630 23:58:18]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240630 23:58:18]: [rm_get_joint_max_pos] max_pos parse result:

[20240630 23:58:18]:  178000

[20240630 23:58:18]:  130000

[20240630 23:58:18]:  135000

[20240630 23:58:18]:  178000

[20240630 23:58:18]:  128000

[20240630 23:58:18]:  360000

[20240630 23:58:18]: send is: {"command":"get_joint_max_acc"}


[20240630 23:58:18]: thread_socket_receive len 82 robot_handle: 1 message:{"joint_acc":[50000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240630 23:58:18]: thread_socket_receive len 82 robot_handle: 1 message:{"joint_acc":[50000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240630 23:58:18]: [rm_get_joint_max_acc] joint_acc parse result:

[20240630 23:58:18]:  50000

[20240630 23:58:18]:  100000

[20240630 23:58:18]:  100000

[20240630 23:58:18]:  100000

[20240630 23:58:18]:  100000

[20240630 23:58:18]:  100000

[20240630 23:58:18]: send is: {"command":"get_joint_max_speed"}


[20240630 23:58:18]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[15000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240630 23:58:18]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[15000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240630 23:58:18]: [rm_get_joint_max_speed] joint_speed parse result:

[20240630 23:58:18]:  15000

[20240630 23:58:18]:  30000

[20240630 23:58:18]:  37500

[20240630 23:58:18]:  37500

[20240630 23:58:18]:  37500

[20240630 23:58:18]:  37500

[20240701 00:05:28] Begin API Testing.
[20240701 00:05:28]: send is: {"command":"get_arm_software_info"}


[20240701 00:05:28]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/20 20:07:01","commit_id":"95e4b22","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/20 20:07:16","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 00:05:28]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/20 20:07:01","commit_id":"95e4b22","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/20 20:07:16","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 00:05:28]: [rm_get_arm_software_info] Product version: RM65-BI

[20240701 00:05:28]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240701 00:05:28]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240701 00:05:28]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/20 20:07:01

[20240701 00:05:28]: [rm_get_arm_software_info] Dynamic model version: 2

[20240701 00:05:28]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240701 00:05:28]: [rm_get_arm_software_info] Plan build Time: 2024/06/20 20:07:01

[20240701 00:05:28]: send is: {"command":"get_realtime_push"}


[20240701 00:05:28]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240701 00:05:28]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240701 00:05:28]: [rm_get_realtime_push] cycle parse result: 5

[20240701 00:05:28]: [rm_get_realtime_push] port parse result: 8089

[20240701 00:05:28]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240701 00:05:28]: [rm_get_realtime_push] enable parse result: 1

[20240701 00:05:28]: send is: {"command":"get_current_work_frame"}


[20240701 00:05:28]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 00:05:28]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 00:05:28]: [get_current_work_frame] Work frame Name: World

[20240701 00:05:28]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 00:05:28]: send is: {"command":"get_current_tool_frame"}


[20240701 00:05:28]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 00:05:28]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 00:05:28]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240701 00:05:28]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 00:05:28]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240701 00:05:28]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240701 00:05:28]: send is: {"command":"get_install_pose"}


[20240701 00:05:28]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 00:05:28]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 00:05:28]: [rm_get_install_pose] pose parse result:

[20240701 00:05:28]:  0

[20240701 00:05:28]:  0

[20240701 00:05:28]:  0

[20240701 00:05:28]: send is: {"command":"get_joint_min_pos"}


[20240701 00:05:28]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-108000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 00:05:28]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-108000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 00:05:28]: [rm_get_joint_min_pos] min_pos parse result:

[20240701 00:05:28]:  -108000

[20240701 00:05:28]:  -130000

[20240701 00:05:28]:  -135000

[20240701 00:05:28]:  -178000

[20240701 00:05:28]:  -128000

[20240701 00:05:28]:  -360000

[20240701 00:05:28]: send is: {"command":"get_joint_max_pos"}


[20240701 00:05:28]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 00:05:28]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 00:05:28]: [rm_get_joint_max_pos] max_pos parse result:

[20240701 00:05:28]:  178000

[20240701 00:05:28]:  130000

[20240701 00:05:28]:  135000

[20240701 00:05:28]:  178000

[20240701 00:05:28]:  128000

[20240701 00:05:28]:  360000

[20240701 00:05:28]: send is: {"command":"get_joint_max_acc"}


[20240701 00:05:28]: thread_socket_receive len 82 robot_handle: 1 message:{"joint_acc":[50000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 00:05:28]: thread_socket_receive len 82 robot_handle: 1 message:{"joint_acc":[50000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 00:05:28]: [rm_get_joint_max_acc] joint_acc parse result:

[20240701 00:05:28]:  50000

[20240701 00:05:28]:  100000

[20240701 00:05:28]:  100000

[20240701 00:05:28]:  100000

[20240701 00:05:28]:  100000

[20240701 00:05:28]:  100000

[20240701 00:05:28]: send is: {"command":"get_joint_max_speed"}


[20240701 00:05:28]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[15000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 00:05:28]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[15000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 00:05:28]: [rm_get_joint_max_speed] joint_speed parse result:

[20240701 00:05:28]:  15000

[20240701 00:05:28]:  30000

[20240701 00:05:28]:  37500

[20240701 00:05:28]:  37500

[20240701 00:05:28]:  37500

[20240701 00:05:28]:  37500

[20240701 00:05:34]: send is: {"command":"set_IO_mode","IO_Num":2,"IO_mode":1}


[20240701 00:05:34]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"set_IO_mode","set_state":true}


[20240701 00:05:34]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"set_IO_mode","set_state":true}


[20240701 00:05:34]: [rm_set_IO_mode] set_state: true

[20240701 00:05:39]: send is: {"command":"set_DO_state","IO_Num":2,"state":1}


[20240701 00:05:39]: thread_socket_receive len 45 robot_handle: 1 message:{"command":"set_DO_state","set_state":true}


[20240701 00:05:39]: thread_socket_receive len 45 robot_handle: 1 message:{"command":"set_DO_state","set_state":true}


[20240701 00:05:39]: [rm_set_DO_state] set_state: true

[20240701 00:05:39]: send is: {"command":"set_DO_state","IO_Num":2,"state":0}


[20240701 00:05:39]: thread_socket_receive len 45 robot_handle: 1 message:{"command":"set_DO_state","set_state":true}


[20240701 00:05:39]: thread_socket_receive len 45 robot_handle: 1 message:{"command":"set_DO_state","set_state":true}


[20240701 00:05:39]: [rm_set_DO_state] set_state: true

[20240701 00:05:45]: send is: {"command":"set_IO_mode","IO_Num":3,"IO_mode":0}


[20240701 00:05:45]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"set_IO_mode","set_state":true}


[20240701 00:05:45]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"set_IO_mode","set_state":true}


[20240701 00:05:45]: [rm_set_IO_mode] set_state: true

[20240701 00:05:45]: send is: {"command":"get_IO_state","IO_Num":3}


[20240701 00:05:45]: thread_socket_receive len 58 robot_handle: 1 message:{"IO_Mode":0,"IO_Num":3,"IO_state":1,"state":"IO_state"}


[20240701 00:05:45]: thread_socket_receive len 58 robot_handle: 1 message:{"IO_Mode":0,"IO_Num":3,"IO_state":1,"state":"IO_state"}


[20240701 00:05:45]: [rm_get_IO_state] IO_Num parse result: 3

[20240701 00:05:45]: [rm_get_IO_state] IO_Mode parse result: 0

[20240701 00:05:45]: [rm_get_IO_state] IO_state parse result: 1

[20240701 00:05:55]: send is: {"command":"get_IO_input"}


[20240701 00:05:55]: thread_socket_receive len 45 robot_handle: 1 message:{"DI":[1,-1,1,-1],"state":"IO_input_state"}


[20240701 00:05:55]: thread_socket_receive len 45 robot_handle: 1 message:{"DI":[1,-1,1,-1],"state":"IO_input_state"}


[20240701 00:05:55]: [rm_get_IO_input] DI parse result:

[20240701 00:05:55]:  1

[20240701 00:05:55]:  -1

[20240701 00:05:55]:  1

[20240701 00:05:55]:  -1

[20240701 00:05:55]: send is: {"command":"get_IO_output"}


[20240701 00:05:55]: thread_socket_receive len 45 robot_handle: 1 message:{"DO":[0,0,-1,0],"state":"IO_output_state"}


[20240701 00:05:55]: thread_socket_receive len 45 robot_handle: 1 message:{"DO":[0,0,-1,0],"state":"IO_output_state"}


[20240701 00:05:55]: [rm_get_IO_output] DO parse result:

[20240701 00:05:55]:  0

[20240701 00:05:55]:  0

[20240701 00:05:55]:  -1

[20240701 00:05:55]:  0

[20240701 00:13:55] Begin API Testing.
[20240701 00:13:55]: send is: {"command":"get_arm_software_info"}


[20240701 00:13:55]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/20 20:07:01","commit_id":"95e4b22","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/20 20:07:16","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 00:13:55]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/20 20:07:01","commit_id":"95e4b22","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/20 20:07:16","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 00:13:55]: [rm_get_arm_software_info] Product version: RM65-BI

[20240701 00:13:55]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240701 00:13:55]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240701 00:13:55]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/20 20:07:01

[20240701 00:13:55]: [rm_get_arm_software_info] Dynamic model version: 2

[20240701 00:13:55]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240701 00:13:55]: [rm_get_arm_software_info] Plan build Time: 2024/06/20 20:07:01

[20240701 00:13:55]: send is: {"command":"get_realtime_push"}


[20240701 00:13:55]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240701 00:13:55]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240701 00:13:55]: [rm_get_realtime_push] cycle parse result: 5

[20240701 00:13:55]: [rm_get_realtime_push] port parse result: 8089

[20240701 00:13:55]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240701 00:13:55]: [rm_get_realtime_push] enable parse result: 1

[20240701 00:13:55]: send is: {"command":"get_current_work_frame"}


[20240701 00:13:55]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 00:13:55]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 00:13:55]: [get_current_work_frame] Work frame Name: World

[20240701 00:13:55]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 00:13:55]: send is: {"command":"get_current_tool_frame"}


[20240701 00:13:55]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 00:13:55]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 00:13:55]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240701 00:13:55]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 00:13:55]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240701 00:13:55]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240701 00:13:55]: send is: {"command":"get_install_pose"}


[20240701 00:13:55]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 00:13:55]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 00:13:55]: [rm_get_install_pose] pose parse result:

[20240701 00:13:55]:  0

[20240701 00:13:55]:  0

[20240701 00:13:55]:  0

[20240701 00:13:55]: send is: {"command":"get_joint_min_pos"}


[20240701 00:13:55]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-108000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 00:13:55]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-108000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 00:13:55]: [rm_get_joint_min_pos] min_pos parse result:

[20240701 00:13:55]:  -108000

[20240701 00:13:55]:  -130000

[20240701 00:13:55]:  -135000

[20240701 00:13:55]:  -178000

[20240701 00:13:55]:  -128000

[20240701 00:13:55]:  -360000

[20240701 00:13:55]: send is: {"command":"get_joint_max_pos"}


[20240701 00:13:55]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 00:13:55]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 00:13:55]: [rm_get_joint_max_pos] max_pos parse result:

[20240701 00:13:55]:  178000

[20240701 00:13:55]:  130000

[20240701 00:13:55]:  135000

[20240701 00:13:55]:  178000

[20240701 00:13:55]:  128000

[20240701 00:13:55]:  360000

[20240701 00:13:55]: send is: {"command":"get_joint_max_acc"}


[20240701 00:13:55]: thread_socket_receive len 82 robot_handle: 1 message:{"joint_acc":[50000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 00:13:55]: thread_socket_receive len 82 robot_handle: 1 message:{"joint_acc":[50000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 00:13:55]: [rm_get_joint_max_acc] joint_acc parse result:

[20240701 00:13:55]:  50000

[20240701 00:13:55]:  100000

[20240701 00:13:55]:  100000

[20240701 00:13:55]:  100000

[20240701 00:13:55]:  100000

[20240701 00:13:55]:  100000

[20240701 00:13:55]: send is: {"command":"get_joint_max_speed"}


[20240701 00:13:55]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[15000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 00:13:55]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[15000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 00:13:55]: [rm_get_joint_max_speed] joint_speed parse result:

[20240701 00:13:55]:  15000

[20240701 00:13:55]:  30000

[20240701 00:13:55]:  37500

[20240701 00:13:55]:  37500

[20240701 00:13:55]:  37500

[20240701 00:13:55]:  37500

[20240701 00:13:55]: send is: {"command":"set_IO_mode","IO_Num":2,"IO_mode":1}


[20240701 00:13:55]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"set_IO_mode","set_state":true}


[20240701 00:13:55]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"set_IO_mode","set_state":true}


[20240701 00:13:55]: [rm_set_IO_mode] set_state: true

[20240701 00:13:57]: send is: {"command":"set_DO_state","IO_Num":2,"state":1}


[20240701 00:13:57]: thread_socket_receive len 45 robot_handle: 1 message:{"command":"set_DO_state","set_state":true}


[20240701 00:13:57]: thread_socket_receive len 45 robot_handle: 1 message:{"command":"set_DO_state","set_state":true}


[20240701 00:13:57]: [rm_set_DO_state] set_state: true

[20240701 00:14:20]: send is: {"command":"set_DO_state","IO_Num":2,"state":0}


[20240701 00:14:20]: thread_socket_receive len 45 robot_handle: 1 message:{"command":"set_DO_state","set_state":true}


[20240701 00:14:20]: thread_socket_receive len 45 robot_handle: 1 message:{"command":"set_DO_state","set_state":true}


[20240701 00:14:20]: [rm_set_DO_state] set_state: true

[20240701 00:14:23]: send is: {"command":"set_IO_mode","IO_Num":3,"IO_mode":0}


[20240701 00:14:23]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"set_IO_mode","set_state":true}


[20240701 00:14:23]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"set_IO_mode","set_state":true}


[20240701 00:14:23]: [rm_set_IO_mode] set_state: true

[20240701 00:14:23]: send is: {"command":"get_IO_state","IO_Num":3}


[20240701 00:14:23]: thread_socket_receive len 58 robot_handle: 1 message:{"IO_Mode":0,"IO_Num":3,"IO_state":1,"state":"IO_state"}


[20240701 00:14:23]: thread_socket_receive len 58 robot_handle: 1 message:{"IO_Mode":0,"IO_Num":3,"IO_state":1,"state":"IO_state"}


[20240701 00:14:23]: [rm_get_IO_state] IO_Num parse result: 3

[20240701 00:14:23]: [rm_get_IO_state] IO_Mode parse result: 0

[20240701 00:14:23]: [rm_get_IO_state] IO_state parse result: 1

[20240701 00:14:28]: send is: {"command":"get_IO_input"}


[20240701 00:14:28]: thread_socket_receive len 45 robot_handle: 1 message:{"DI":[1,-1,1,-1],"state":"IO_input_state"}


[20240701 00:14:28]: thread_socket_receive len 45 robot_handle: 1 message:{"DI":[1,-1,1,-1],"state":"IO_input_state"}


[20240701 00:14:28]: [rm_get_IO_input] DI parse result:

[20240701 00:14:28]:  1

[20240701 00:14:28]:  -1

[20240701 00:14:28]:  1

[20240701 00:14:28]:  -1

[20240701 00:14:32]: send is: {"command":"get_IO_output"}


[20240701 00:14:32]: thread_socket_receive len 45 robot_handle: 1 message:{"DO":[0,0,-1,0],"state":"IO_output_state"}


[20240701 00:14:32]: thread_socket_receive len 45 robot_handle: 1 message:{"DO":[0,0,-1,0],"state":"IO_output_state"}


[20240701 00:14:32]: [rm_get_IO_output] DO parse result:

[20240701 00:14:32]:  0

[20240701 00:14:32]:  0

[20240701 00:14:32]:  -1

[20240701 00:14:32]:  0

[20240701 01:34:03] Begin API Testing.
[20240701 01:34:03]: send is: {"command":"get_arm_software_info"}


[20240701 01:34:03]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/20 20:07:01","commit_id":"95e4b22","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/20 20:07:16","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 01:34:03]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/20 20:07:01","commit_id":"95e4b22","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/20 20:07:16","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 01:34:03]: [rm_get_arm_software_info] Product version: RM65-BI

[20240701 01:34:03]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240701 01:34:03]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240701 01:34:03]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/20 20:07:01

[20240701 01:34:03]: [rm_get_arm_software_info] Dynamic model version: 2

[20240701 01:34:03]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240701 01:34:03]: [rm_get_arm_software_info] Plan build Time: 2024/06/20 20:07:01

[20240701 01:34:03]: send is: {"command":"get_realtime_push"}


[20240701 01:34:03]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240701 01:34:03]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240701 01:34:03]: [rm_get_realtime_push] cycle parse result: 5

[20240701 01:34:03]: [rm_get_realtime_push] port parse result: 8089

[20240701 01:34:03]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240701 01:34:03]: [rm_get_realtime_push] enable parse result: 1

[20240701 01:34:03]: send is: {"command":"get_current_work_frame"}


[20240701 01:34:03]: thread_socket_receive len 73 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 01:34:03]: thread_socket_receive len 73 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 01:34:03]: [get_current_work_frame] Work frame Name: Base

[20240701 01:34:03]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 01:34:03]: send is: {"command":"get_current_tool_frame"}


[20240701 01:34:03]: thread_socket_receive len 116 robot_handle: 1 message:{"payload":0,"pose":[292557,0,298570,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"testABC"}


[20240701 01:34:03]: thread_socket_receive len 116 robot_handle: 1 message:{"payload":0,"pose":[292557,0,298570,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"testABC"}


[20240701 01:34:03]: [get_current_tool_frame] Tool frame Name: testABC

[20240701 01:34:03]: [get_current_tool_frame] Tool frame pose: (0.293, 0.000, 0.299, 0.000, 0.000, 0.000)

[20240701 01:34:03]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240701 01:34:03]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240701 01:34:03]: send is: {"command":"get_install_pose"}


[20240701 01:34:03]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 01:34:03]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 01:34:03]: [rm_get_install_pose] pose parse result:

[20240701 01:34:03]:  0

[20240701 01:34:03]:  0

[20240701 01:34:03]:  0

[20240701 01:34:03]: send is: {"command":"get_joint_min_pos"}


[20240701 01:34:03]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-108000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 01:34:03]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-108000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 01:34:03]: [rm_get_joint_min_pos] min_pos parse result:

[20240701 01:34:03]:  -108000

[20240701 01:34:03]:  -130000

[20240701 01:34:03]:  -135000

[20240701 01:34:03]:  -178000

[20240701 01:34:03]:  -128000

[20240701 01:34:03]:  -360000

[20240701 01:34:03]: send is: {"command":"get_joint_max_pos"}


[20240701 01:34:03]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 01:34:03]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 01:34:03]: [rm_get_joint_max_pos] max_pos parse result:

[20240701 01:34:03]:  178000

[20240701 01:34:03]:  130000

[20240701 01:34:03]:  135000

[20240701 01:34:03]:  178000

[20240701 01:34:03]:  128000

[20240701 01:34:03]:  360000

[20240701 01:34:03]: send is: {"command":"get_joint_max_acc"}


[20240701 01:34:03]: thread_socket_receive len 82 robot_handle: 1 message:{"joint_acc":[50000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 01:34:03]: thread_socket_receive len 82 robot_handle: 1 message:{"joint_acc":[50000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 01:34:03]: [rm_get_joint_max_acc] joint_acc parse result:

[20240701 01:34:03]:  50000

[20240701 01:34:03]:  100000

[20240701 01:34:03]:  100000

[20240701 01:34:03]:  100000

[20240701 01:34:03]:  100000

[20240701 01:34:03]:  100000

[20240701 01:34:03]: send is: {"command":"get_joint_max_speed"}


[20240701 01:34:03]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[15000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 01:34:03]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[15000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 01:34:03]: [rm_get_joint_max_speed] joint_speed parse result:

[20240701 01:34:03]:  15000

[20240701 01:34:03]:  30000

[20240701 01:34:03]:  37500

[20240701 01:34:03]:  37500

[20240701 01:34:03]:  37500

[20240701 01:34:03]:  37500

[20240701 01:44:28] Begin API Testing.
[20240701 01:44:28]: send is: {"command":"get_arm_software_info"}


[20240701 01:44:28]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/20 20:07:01","commit_id":"95e4b22","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/20 20:07:16","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 01:44:28]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/20 20:07:01","commit_id":"95e4b22","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/20 20:07:16","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 01:44:28]: [rm_get_arm_software_info] Product version: RM65-BI

[20240701 01:44:28]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240701 01:44:28]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240701 01:44:28]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/20 20:07:01

[20240701 01:44:28]: [rm_get_arm_software_info] Dynamic model version: 2

[20240701 01:44:28]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240701 01:44:28]: [rm_get_arm_software_info] Plan build Time: 2024/06/20 20:07:01

[20240701 01:44:28]: send is: {"command":"get_realtime_push"}


[20240701 01:44:28]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240701 01:44:28]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240701 01:44:28]: [rm_get_realtime_push] cycle parse result: 5

[20240701 01:44:28]: [rm_get_realtime_push] port parse result: 8089

[20240701 01:44:28]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240701 01:44:28]: [rm_get_realtime_push] enable parse result: 1

[20240701 01:44:28]: send is: {"command":"get_current_work_frame"}


[20240701 01:44:28]: thread_socket_receive len 73 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 01:44:28]: thread_socket_receive len 73 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 01:44:28]: [get_current_work_frame] Work frame Name: Base

[20240701 01:44:28]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 01:44:28]: send is: {"command":"get_current_tool_frame"}


[20240701 01:44:28]: thread_socket_receive len 116 robot_handle: 1 message:{"payload":0,"pose":[292557,0,298570,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"testABC"}


[20240701 01:44:28]: thread_socket_receive len 116 robot_handle: 1 message:{"payload":0,"pose":[292557,0,298570,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"testABC"}


[20240701 01:44:28]: [get_current_tool_frame] Tool frame Name: testABC

[20240701 01:44:28]: [get_current_tool_frame] Tool frame pose: (0.293, 0.000, 0.299, 0.000, 0.000, 0.000)

[20240701 01:44:28]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240701 01:44:28]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240701 01:44:28]: send is: {"command":"get_install_pose"}


[20240701 01:44:28]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 01:44:28]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 01:44:28]: [rm_get_install_pose] pose parse result:

[20240701 01:44:28]:  0

[20240701 01:44:28]:  0

[20240701 01:44:28]:  0

[20240701 01:44:28]: send is: {"command":"get_joint_min_pos"}


[20240701 01:44:28]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-108000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 01:44:28]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-108000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 01:44:28]: [rm_get_joint_min_pos] min_pos parse result:

[20240701 01:44:28]:  -108000

[20240701 01:44:28]:  -130000

[20240701 01:44:28]:  -135000

[20240701 01:44:28]:  -178000

[20240701 01:44:28]:  -128000

[20240701 01:44:28]:  -360000

[20240701 01:44:28]: send is: {"command":"get_joint_max_pos"}


[20240701 01:44:28]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 01:44:28]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 01:44:28]: [rm_get_joint_max_pos] max_pos parse result:

[20240701 01:44:28]:  178000

[20240701 01:44:28]:  130000

[20240701 01:44:28]:  135000

[20240701 01:44:28]:  178000

[20240701 01:44:28]:  128000

[20240701 01:44:28]:  360000

[20240701 01:44:28]: send is: {"command":"get_joint_max_acc"}


[20240701 01:44:28]: thread_socket_receive len 82 robot_handle: 1 message:{"joint_acc":[50000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 01:44:28]: thread_socket_receive len 82 robot_handle: 1 message:{"joint_acc":[50000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 01:44:28]: [rm_get_joint_max_acc] joint_acc parse result:

[20240701 01:44:28]:  50000

[20240701 01:44:28]:  100000

[20240701 01:44:28]:  100000

[20240701 01:44:28]:  100000

[20240701 01:44:28]:  100000

[20240701 01:44:28]:  100000

[20240701 01:44:28]: send is: {"command":"get_joint_max_speed"}


[20240701 01:44:28]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[15000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 01:44:28]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[15000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 01:44:28]: [rm_get_joint_max_speed] joint_speed parse result:

[20240701 01:44:28]:  15000

[20240701 01:44:28]:  30000

[20240701 01:44:28]:  37500

[20240701 01:44:28]:  37500

[20240701 01:44:28]:  37500

[20240701 01:44:28]:  37500

[20240701 01:44:53] Begin API Testing.
[20240701 01:44:53]: send is: {"command":"get_arm_software_info"}


[20240701 01:44:53]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/20 20:07:01","commit_id":"95e4b22","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/20 20:07:16","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 01:44:53]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/20 20:07:01","commit_id":"95e4b22","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/20 20:07:16","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 01:44:53]: [rm_get_arm_software_info] Product version: RM65-BI

[20240701 01:44:53]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240701 01:44:53]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240701 01:44:53]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/20 20:07:01

[20240701 01:44:53]: [rm_get_arm_software_info] Dynamic model version: 2

[20240701 01:44:53]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240701 01:44:53]: [rm_get_arm_software_info] Plan build Time: 2024/06/20 20:07:01

[20240701 01:44:53]: send is: {"command":"get_realtime_push"}


[20240701 01:44:53]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240701 01:44:53]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240701 01:44:53]: [rm_get_realtime_push] cycle parse result: 5

[20240701 01:44:53]: [rm_get_realtime_push] port parse result: 8089

[20240701 01:44:53]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240701 01:44:53]: [rm_get_realtime_push] enable parse result: 1

[20240701 01:44:53]: send is: {"command":"get_current_work_frame"}


[20240701 01:44:53]: thread_socket_receive len 73 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 01:44:53]: thread_socket_receive len 73 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 01:44:53]: [get_current_work_frame] Work frame Name: Base

[20240701 01:44:53]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 01:44:53]: send is: {"command":"get_current_tool_frame"}


[20240701 01:44:53]: thread_socket_receive len 116 robot_handle: 1 message:{"payload":0,"pose":[292557,0,298570,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"testABC"}


[20240701 01:44:53]: thread_socket_receive len 116 robot_handle: 1 message:{"payload":0,"pose":[292557,0,298570,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"testABC"}


[20240701 01:44:53]: [get_current_tool_frame] Tool frame Name: testABC

[20240701 01:44:53]: [get_current_tool_frame] Tool frame pose: (0.293, 0.000, 0.299, 0.000, 0.000, 0.000)

[20240701 01:44:53]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240701 01:44:53]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240701 01:44:53]: send is: {"command":"get_install_pose"}


[20240701 01:44:53]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 01:44:53]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 01:44:53]: [rm_get_install_pose] pose parse result:

[20240701 01:44:53]:  0

[20240701 01:44:53]:  0

[20240701 01:44:53]:  0

[20240701 01:44:53]: send is: {"command":"get_joint_min_pos"}


[20240701 01:44:53]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-108000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 01:44:53]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-108000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 01:44:53]: [rm_get_joint_min_pos] min_pos parse result:

[20240701 01:44:53]:  -108000

[20240701 01:44:53]:  -130000

[20240701 01:44:53]:  -135000

[20240701 01:44:53]:  -178000

[20240701 01:44:53]:  -128000

[20240701 01:44:53]:  -360000

[20240701 01:44:53]: send is: {"command":"get_joint_max_pos"}


[20240701 01:44:53]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 01:44:53]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 01:44:53]: [rm_get_joint_max_pos] max_pos parse result:

[20240701 01:44:53]:  178000

[20240701 01:44:53]:  130000

[20240701 01:44:53]:  135000

[20240701 01:44:53]:  178000

[20240701 01:44:53]:  128000

[20240701 01:44:53]:  360000

[20240701 01:44:53]: send is: {"command":"get_joint_max_acc"}


[20240701 01:44:53]: thread_socket_receive len 82 robot_handle: 1 message:{"joint_acc":[50000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 01:44:53]: thread_socket_receive len 82 robot_handle: 1 message:{"joint_acc":[50000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 01:44:53]: [rm_get_joint_max_acc] joint_acc parse result:

[20240701 01:44:53]:  50000

[20240701 01:44:53]:  100000

[20240701 01:44:53]:  100000

[20240701 01:44:53]:  100000

[20240701 01:44:53]:  100000

[20240701 01:44:53]:  100000

[20240701 01:44:53]: send is: {"command":"get_joint_max_speed"}


[20240701 01:44:53]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[15000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 01:44:53]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[15000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 01:44:53]: [rm_get_joint_max_speed] joint_speed parse result:

[20240701 01:44:53]:  15000

[20240701 01:44:53]:  30000

[20240701 01:44:53]:  37500

[20240701 01:44:53]:  37500

[20240701 01:44:53]:  37500

[20240701 01:44:53]:  37500

[20240701 01:46:44] Begin API Testing.
[20240701 01:46:44]: send is: {"command":"get_arm_software_info"}


[20240701 01:46:44]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/20 20:07:01","commit_id":"95e4b22","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/20 20:07:16","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 01:46:44]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/20 20:07:01","commit_id":"95e4b22","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/20 20:07:16","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 01:46:44]: [rm_get_arm_software_info] Product version: RM65-BI

[20240701 01:46:44]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240701 01:46:44]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240701 01:46:44]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/20 20:07:01

[20240701 01:46:44]: [rm_get_arm_software_info] Dynamic model version: 2

[20240701 01:46:44]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240701 01:46:44]: [rm_get_arm_software_info] Plan build Time: 2024/06/20 20:07:01

[20240701 01:46:44]: send is: {"command":"get_realtime_push"}


[20240701 01:46:44]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240701 01:46:44]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240701 01:46:44]: [rm_get_realtime_push] cycle parse result: 5

[20240701 01:46:44]: [rm_get_realtime_push] port parse result: 8089

[20240701 01:46:44]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240701 01:46:44]: [rm_get_realtime_push] enable parse result: 1

[20240701 01:46:44]: send is: {"command":"get_current_work_frame"}


[20240701 01:46:44]: thread_socket_receive len 73 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 01:46:44]: thread_socket_receive len 73 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 01:46:44]: [get_current_work_frame] Work frame Name: Base

[20240701 01:46:44]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 01:46:44]: send is: {"command":"get_current_tool_frame"}


[20240701 01:46:44]: thread_socket_receive len 116 robot_handle: 1 message:{"payload":0,"pose":[292557,0,298570,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"testABC"}


[20240701 01:46:44]: thread_socket_receive len 116 robot_handle: 1 message:{"payload":0,"pose":[292557,0,298570,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"testABC"}


[20240701 01:46:44]: [get_current_tool_frame] Tool frame Name: testABC

[20240701 01:46:44]: [get_current_tool_frame] Tool frame pose: (0.293, 0.000, 0.299, 0.000, 0.000, 0.000)

[20240701 01:46:44]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240701 01:46:44]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240701 01:46:44]: send is: {"command":"get_install_pose"}


[20240701 01:46:44]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 01:46:44]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 01:46:44]: [rm_get_install_pose] pose parse result:

[20240701 01:46:44]:  0

[20240701 01:46:44]:  0

[20240701 01:46:44]:  0

[20240701 01:46:44]: send is: {"command":"get_joint_min_pos"}


[20240701 01:46:44]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-108000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 01:46:44]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-108000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 01:46:44]: [rm_get_joint_min_pos] min_pos parse result:

[20240701 01:46:44]:  -108000

[20240701 01:46:44]:  -130000

[20240701 01:46:44]:  -135000

[20240701 01:46:44]:  -178000

[20240701 01:46:44]:  -128000

[20240701 01:46:44]:  -360000

[20240701 01:46:44]: send is: {"command":"get_joint_max_pos"}


[20240701 01:46:44]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 01:46:44]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 01:46:44]: [rm_get_joint_max_pos] max_pos parse result:

[20240701 01:46:44]:  178000

[20240701 01:46:44]:  130000

[20240701 01:46:44]:  135000

[20240701 01:46:44]:  178000

[20240701 01:46:44]:  128000

[20240701 01:46:44]:  360000

[20240701 01:46:44]: send is: {"command":"get_joint_max_acc"}


[20240701 01:46:44]: thread_socket_receive len 82 robot_handle: 1 message:{"joint_acc":[50000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 01:46:44]: thread_socket_receive len 82 robot_handle: 1 message:{"joint_acc":[50000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 01:46:44]: [rm_get_joint_max_acc] joint_acc parse result:

[20240701 01:46:44]:  50000

[20240701 01:46:44]:  100000

[20240701 01:46:44]:  100000

[20240701 01:46:44]:  100000

[20240701 01:46:44]:  100000

[20240701 01:46:44]:  100000

[20240701 01:46:44]: send is: {"command":"get_joint_max_speed"}


[20240701 01:46:44]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[15000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 01:46:44]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[15000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 01:46:44]: [rm_get_joint_max_speed] joint_speed parse result:

[20240701 01:46:44]:  15000

[20240701 01:46:44]:  30000

[20240701 01:46:44]:  37500

[20240701 01:46:44]:  37500

[20240701 01:46:44]:  37500

[20240701 01:46:44]:  37500

[20240701 01:59:22] Begin API Testing.
[20240701 01:59:22]: send is: {"command":"get_arm_software_info"}


[20240701 01:59:22]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/20 20:07:01","commit_id":"95e4b22","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/20 20:07:16","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 01:59:22]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/20 20:07:01","commit_id":"95e4b22","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/20 20:07:16","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 01:59:22]: [rm_get_arm_software_info] Product version: RM65-BI

[20240701 01:59:22]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240701 01:59:22]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240701 01:59:22]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/20 20:07:01

[20240701 01:59:22]: [rm_get_arm_software_info] Dynamic model version: 2

[20240701 01:59:22]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240701 01:59:22]: [rm_get_arm_software_info] Plan build Time: 2024/06/20 20:07:01

[20240701 01:59:22]: send is: {"command":"get_realtime_push"}


[20240701 01:59:22]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240701 01:59:22]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240701 01:59:22]: [rm_get_realtime_push] cycle parse result: 5

[20240701 01:59:22]: [rm_get_realtime_push] port parse result: 8089

[20240701 01:59:22]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240701 01:59:22]: [rm_get_realtime_push] enable parse result: 1

[20240701 01:59:22]: send is: {"command":"get_current_work_frame"}


[20240701 01:59:22]: thread_socket_receive len 73 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 01:59:22]: thread_socket_receive len 73 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 01:59:22]: [get_current_work_frame] Work frame Name: Base

[20240701 01:59:22]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 01:59:22]: send is: {"command":"get_current_tool_frame"}


[20240701 01:59:22]: thread_socket_receive len 116 robot_handle: 1 message:{"payload":0,"pose":[292557,0,298570,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"testABC"}


[20240701 01:59:22]: thread_socket_receive len 116 robot_handle: 1 message:{"payload":0,"pose":[292557,0,298570,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"testABC"}


[20240701 01:59:22]: [get_current_tool_frame] Tool frame Name: testABC

[20240701 01:59:22]: [get_current_tool_frame] Tool frame pose: (0.293, 0.000, 0.299, 0.000, 0.000, 0.000)

[20240701 01:59:22]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240701 01:59:22]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240701 01:59:22]: send is: {"command":"get_install_pose"}


[20240701 01:59:22]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 01:59:22]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 01:59:22]: [rm_get_install_pose] pose parse result:

[20240701 01:59:22]:  0

[20240701 01:59:22]:  0

[20240701 01:59:22]:  0

[20240701 01:59:22]: send is: {"command":"get_joint_min_pos"}


[20240701 01:59:22]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-108000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 01:59:22]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-108000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 01:59:22]: [rm_get_joint_min_pos] min_pos parse result:

[20240701 01:59:22]:  -108000

[20240701 01:59:22]:  -130000

[20240701 01:59:22]:  -135000

[20240701 01:59:22]:  -178000

[20240701 01:59:22]:  -128000

[20240701 01:59:22]:  -360000

[20240701 01:59:22]: send is: {"command":"get_joint_max_pos"}


[20240701 01:59:22]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 01:59:22]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 01:59:22]: [rm_get_joint_max_pos] max_pos parse result:

[20240701 01:59:22]:  178000

[20240701 01:59:22]:  130000

[20240701 01:59:22]:  135000

[20240701 01:59:22]:  178000

[20240701 01:59:22]:  128000

[20240701 01:59:22]:  360000

[20240701 01:59:22]: send is: {"command":"get_joint_max_acc"}


[20240701 01:59:22]: thread_socket_receive len 82 robot_handle: 1 message:{"joint_acc":[50000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 01:59:22]: thread_socket_receive len 82 robot_handle: 1 message:{"joint_acc":[50000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 01:59:22]: [rm_get_joint_max_acc] joint_acc parse result:

[20240701 01:59:22]:  50000

[20240701 01:59:22]:  100000

[20240701 01:59:22]:  100000

[20240701 01:59:22]:  100000

[20240701 01:59:22]:  100000

[20240701 01:59:22]:  100000

[20240701 01:59:22]: send is: {"command":"get_joint_max_speed"}


[20240701 01:59:22]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[15000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 01:59:22]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[15000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 01:59:22]: [rm_get_joint_max_speed] joint_speed parse result:

[20240701 01:59:22]:  15000

[20240701 01:59:22]:  30000

[20240701 01:59:22]:  37500

[20240701 01:59:22]:  37500

[20240701 01:59:22]:  37500

[20240701 01:59:22]:  37500

[20240701 04:13:14] Begin API Testing.
[20240701 04:13:14]: send is: {"command":"get_arm_software_info"}


[20240701 04:13:14]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/20 20:07:01","commit_id":"95e4b22","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/20 20:07:16","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 04:13:14]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/20 20:07:01","commit_id":"95e4b22","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/20 20:07:16","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 04:13:14]: [rm_get_arm_software_info] Product version: RM65-BI

[20240701 04:13:14]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240701 04:13:14]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240701 04:13:14]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/20 20:07:01

[20240701 04:13:14]: [rm_get_arm_software_info] Dynamic model version: 2

[20240701 04:13:14]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240701 04:13:14]: [rm_get_arm_software_info] Plan build Time: 2024/06/20 20:07:01

[20240701 04:13:14]: send is: {"command":"get_realtime_push"}


[20240701 04:13:14]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240701 04:13:14]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240701 04:13:14]: [rm_get_realtime_push] cycle parse result: 5

[20240701 04:13:14]: [rm_get_realtime_push] port parse result: 8089

[20240701 04:13:14]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240701 04:13:14]: [rm_get_realtime_push] enable parse result: 1

[20240701 04:13:14]: send is: {"command":"get_current_work_frame"}


[20240701 04:13:14]: thread_socket_receive len 73 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 04:13:14]: thread_socket_receive len 73 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 04:13:14]: [get_current_work_frame] Work frame Name: Base

[20240701 04:13:14]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 04:13:14]: send is: {"command":"get_current_tool_frame"}


[20240701 04:13:14]: thread_socket_receive len 116 robot_handle: 1 message:{"payload":0,"pose":[292557,0,298570,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"testABC"}


[20240701 04:13:14]: thread_socket_receive len 116 robot_handle: 1 message:{"payload":0,"pose":[292557,0,298570,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"testABC"}


[20240701 04:13:14]: [get_current_tool_frame] Tool frame Name: testABC

[20240701 04:13:14]: [get_current_tool_frame] Tool frame pose: (0.293, 0.000, 0.299, 0.000, 0.000, 0.000)

[20240701 04:13:14]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240701 04:13:14]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240701 04:13:14]: send is: {"command":"get_install_pose"}


[20240701 04:13:14]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 04:13:14]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 04:13:14]: [rm_get_install_pose] pose parse result:

[20240701 04:13:14]:  0

[20240701 04:13:14]:  0

[20240701 04:13:14]:  0

[20240701 04:13:14]: send is: {"command":"get_joint_min_pos"}


[20240701 04:13:14]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-108000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 04:13:14]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-108000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 04:13:14]: [rm_get_joint_min_pos] min_pos parse result:

[20240701 04:13:14]:  -108000

[20240701 04:13:14]:  -130000

[20240701 04:13:14]:  -135000

[20240701 04:13:14]:  -178000

[20240701 04:13:14]:  -128000

[20240701 04:13:14]:  -360000

[20240701 04:13:14]: send is: {"command":"get_joint_max_pos"}


[20240701 04:13:14]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 04:13:14]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 04:13:14]: [rm_get_joint_max_pos] max_pos parse result:

[20240701 04:13:14]:  178000

[20240701 04:13:14]:  130000

[20240701 04:13:14]:  135000

[20240701 04:13:14]:  178000

[20240701 04:13:14]:  128000

[20240701 04:13:14]:  360000

[20240701 04:13:14]: send is: {"command":"get_joint_max_acc"}


[20240701 04:13:14]: thread_socket_receive len 82 robot_handle: 1 message:{"joint_acc":[50000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 04:13:14]: thread_socket_receive len 82 robot_handle: 1 message:{"joint_acc":[50000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 04:13:14]: [rm_get_joint_max_acc] joint_acc parse result:

[20240701 04:13:14]:  50000

[20240701 04:13:14]:  100000

[20240701 04:13:14]:  100000

[20240701 04:13:14]:  100000

[20240701 04:13:14]:  100000

[20240701 04:13:14]:  100000

[20240701 04:13:14]: send is: {"command":"get_joint_max_speed"}


[20240701 04:13:14]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[15000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 04:13:14]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[15000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 04:13:14]: [rm_get_joint_max_speed] joint_speed parse result:

[20240701 04:13:14]:  15000

[20240701 04:13:14]:  30000

[20240701 04:13:14]:  37500

[20240701 04:13:14]:  37500

[20240701 04:13:14]:  37500

[20240701 04:13:14]:  37500

[20240701 04:13:14]: send is: {"command":"set_IO_mode","IO_Num":2,"IO_mode":1}


[20240701 04:13:15]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"set_IO_mode","set_state":true}


[20240701 04:13:15]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"set_IO_mode","set_state":true}


[20240701 04:13:15]: [rm_set_IO_mode] set_state: true

[20240701 04:13:15]: send is: {"command":"set_DO_state","IO_Num":2,"state":1}


[20240701 04:13:15]: thread_socket_receive len 45 robot_handle: 1 message:{"command":"set_DO_state","set_state":true}


[20240701 04:13:15]: thread_socket_receive len 45 robot_handle: 1 message:{"command":"set_DO_state","set_state":true}


[20240701 04:13:15]: [rm_set_DO_state] set_state: true

[20240701 04:13:15]: send is: {"command":"set_DO_state","IO_Num":2,"state":0}


[20240701 04:13:15]: thread_socket_receive len 45 robot_handle: 1 message:{"command":"set_DO_state","set_state":true}


[20240701 04:13:15]: thread_socket_receive len 45 robot_handle: 1 message:{"command":"set_DO_state","set_state":true}


[20240701 04:13:15]: [rm_set_DO_state] set_state: true

[20240701 04:13:15]: send is: {"command":"set_IO_mode","IO_Num":3,"IO_mode":0}


[20240701 04:13:15]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"set_IO_mode","set_state":true}


[20240701 04:13:15]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"set_IO_mode","set_state":true}


[20240701 04:13:15]: [rm_set_IO_mode] set_state: true

[20240701 04:13:15]: send is: {"command":"get_IO_state","IO_Num":3}


[20240701 04:13:15]: thread_socket_receive len 58 robot_handle: 1 message:{"IO_Mode":0,"IO_Num":3,"IO_state":1,"state":"IO_state"}


[20240701 04:13:15]: thread_socket_receive len 58 robot_handle: 1 message:{"IO_Mode":0,"IO_Num":3,"IO_state":1,"state":"IO_state"}


[20240701 04:13:15]: [rm_get_IO_state] IO_Num parse result: 3

[20240701 04:13:15]: [rm_get_IO_state] IO_Mode parse result: 0

[20240701 04:13:15]: [rm_get_IO_state] IO_state parse result: 1

[20240701 04:13:15]: send is: {"command":"get_IO_input"}


[20240701 04:13:15]: thread_socket_receive len 45 robot_handle: 1 message:{"DI":[1,-1,1,-1],"state":"IO_input_state"}


[20240701 04:13:15]: thread_socket_receive len 45 robot_handle: 1 message:{"DI":[1,-1,1,-1],"state":"IO_input_state"}


[20240701 04:13:15]: [rm_get_IO_input] DI parse result:

[20240701 04:13:15]:  1

[20240701 04:13:15]:  -1

[20240701 04:13:15]:  1

[20240701 04:13:15]:  -1

[20240701 04:13:15]: send is: {"command":"get_IO_output"}


[20240701 04:13:15]: thread_socket_receive len 45 robot_handle: 1 message:{"DO":[0,0,-1,0],"state":"IO_output_state"}


[20240701 04:13:15]: thread_socket_receive len 45 robot_handle: 1 message:{"DO":[0,0,-1,0],"state":"IO_output_state"}


[20240701 04:13:15]: [rm_get_IO_output] DO parse result:

[20240701 04:13:15]:  0

[20240701 04:13:15]:  0

[20240701 04:13:15]:  -1

[20240701 04:13:15]:  0

[20240701 05:51:40] Begin API Testing.
[20240701 05:51:40]: send is: {"command":"get_arm_software_info"}


[20240701 05:51:40]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 05:51:40]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 05:51:40]: [rm_get_arm_software_info] Product version: RM75-6FI

[20240701 05:51:40]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240701 05:51:40]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240701 05:51:40]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240701 05:51:40]: [rm_get_arm_software_info] Dynamic model version: 2

[20240701 05:51:40]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240701 05:51:40]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240701 05:51:40]: send is: {"command":"get_realtime_push"}


[20240701 05:51:40]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240701 05:51:40]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240701 05:51:40]: [rm_get_realtime_push] cycle parse result: 1

[20240701 05:51:40]: [rm_get_realtime_push] port parse result: 8098

[20240701 05:51:40]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240701 05:51:40]: [rm_get_realtime_push] enable parse result: 1

[20240701 05:51:40]: [rm_get_realtime_push] force_coordinate parse result: 0

[20240701 05:51:40]: send is: {"command":"get_current_work_frame"}


[20240701 05:51:40]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 05:51:40]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 05:51:40]: [get_current_work_frame] Work frame Name: World

[20240701 05:51:40]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 05:51:40]: send is: {"command":"get_current_tool_frame"}


[20240701 05:51:40]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 05:51:40]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 05:51:40]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240701 05:51:40]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 05:51:40]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240701 05:51:40]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240701 05:51:40]: send is: {"command":"get_install_pose"}


[20240701 05:51:40]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 05:51:40]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 05:51:40]: [rm_get_install_pose] pose parse result:

[20240701 05:51:40]:  0

[20240701 05:51:40]:  0

[20240701 05:51:40]:  0

[20240701 05:51:40]: send is: {"command":"get_joint_min_pos"}


[20240701 05:51:40]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 05:51:40]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 05:51:40]: [rm_get_joint_min_pos] min_pos parse result:

[20240701 05:51:40]:  -178000

[20240701 05:51:40]:  -130000

[20240701 05:51:40]:  -178000

[20240701 05:51:40]:  -135000

[20240701 05:51:40]:  -178000

[20240701 05:51:40]:  -128000

[20240701 05:51:40]:  -360000

[20240701 05:51:40]: send is: {"command":"get_joint_max_pos"}


[20240701 05:51:40]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 05:51:40]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 05:51:40]: [rm_get_joint_max_pos] max_pos parse result:

[20240701 05:51:40]:  178000

[20240701 05:51:40]:  130000

[20240701 05:51:40]:  178000

[20240701 05:51:40]:  135000

[20240701 05:51:40]:  178000

[20240701 05:51:40]:  128000

[20240701 05:51:40]:  360000

[20240701 05:51:40]: send is: {"command":"get_joint_max_acc"}


[20240701 05:51:40]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 05:51:40]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 05:51:40]: [rm_get_joint_max_acc] joint_acc parse result:

[20240701 05:51:40]:  100000

[20240701 05:51:40]:  100000

[20240701 05:51:40]:  100000

[20240701 05:51:40]:  100000

[20240701 05:51:40]:  100000

[20240701 05:51:40]:  100000

[20240701 05:51:40]:  100000

[20240701 05:51:40]: send is: {"command":"get_joint_max_speed"}


[20240701 05:51:40]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 05:51:40]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 05:51:40]: [rm_get_joint_max_speed] joint_speed parse result:

[20240701 05:51:40]:  30000

[20240701 05:51:40]:  30000

[20240701 05:51:40]:  37500

[20240701 05:51:40]:  37500

[20240701 05:51:40]:  37500

[20240701 05:51:40]:  37500

[20240701 05:51:40]:  37500

[20240701 05:51:40]: send is: {"command":"set_modbustcp_mode","ip":"192.168.1.18","port":502,"timeout":5}


[20240701 05:51:40]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_modbustcp_mode","set_state":true}


[20240701 05:51:40]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_modbustcp_mode","set_state":true}


[20240701 05:51:40]: [rm_set_modbustcp_mode] set_state: true

[20240701 05:52:19] Begin API Testing.
[20240701 05:52:19]: send is: {"command":"get_arm_software_info"}


[20240701 05:52:19]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 05:52:19]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 05:52:19]: [rm_get_arm_software_info] Product version: RM75-6FI

[20240701 05:52:19]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240701 05:52:19]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240701 05:52:19]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240701 05:52:19]: [rm_get_arm_software_info] Dynamic model version: 2

[20240701 05:52:19]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240701 05:52:19]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240701 05:52:19]: send is: {"command":"get_realtime_push"}


[20240701 05:52:19]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240701 05:52:19]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240701 05:52:19]: [rm_get_realtime_push] cycle parse result: 1

[20240701 05:52:19]: [rm_get_realtime_push] port parse result: 8098

[20240701 05:52:19]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240701 05:52:19]: [rm_get_realtime_push] enable parse result: 1

[20240701 05:52:19]: [rm_get_realtime_push] force_coordinate parse result: 0

[20240701 05:52:19]: send is: {"command":"get_current_work_frame"}


[20240701 05:52:19]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 05:52:19]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 05:52:19]: [get_current_work_frame] Work frame Name: World

[20240701 05:52:19]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 05:52:19]: send is: {"command":"get_current_tool_frame"}


[20240701 05:52:19]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 05:52:19]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 05:52:19]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240701 05:52:19]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 05:52:19]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240701 05:52:19]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240701 05:52:19]: send is: {"command":"get_install_pose"}


[20240701 05:52:19]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 05:52:19]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 05:52:19]: [rm_get_install_pose] pose parse result:

[20240701 05:52:19]:  0

[20240701 05:52:19]:  0

[20240701 05:52:19]:  0

[20240701 05:52:19]: send is: {"command":"get_joint_min_pos"}


[20240701 05:52:19]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 05:52:19]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 05:52:19]: [rm_get_joint_min_pos] min_pos parse result:

[20240701 05:52:19]:  -178000

[20240701 05:52:19]:  -130000

[20240701 05:52:19]:  -178000

[20240701 05:52:19]:  -135000

[20240701 05:52:19]:  -178000

[20240701 05:52:19]:  -128000

[20240701 05:52:19]:  -360000

[20240701 05:52:19]: send is: {"command":"get_joint_max_pos"}


[20240701 05:52:19]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 05:52:19]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 05:52:19]: [rm_get_joint_max_pos] max_pos parse result:

[20240701 05:52:19]:  178000

[20240701 05:52:19]:  130000

[20240701 05:52:19]:  178000

[20240701 05:52:19]:  135000

[20240701 05:52:19]:  178000

[20240701 05:52:19]:  128000

[20240701 05:52:19]:  360000

[20240701 05:52:19]: send is: {"command":"get_joint_max_acc"}


[20240701 05:52:19]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 05:52:19]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 05:52:19]: [rm_get_joint_max_acc] joint_acc parse result:

[20240701 05:52:19]:  100000

[20240701 05:52:19]:  100000

[20240701 05:52:19]:  100000

[20240701 05:52:19]:  100000

[20240701 05:52:19]:  100000

[20240701 05:52:19]:  100000

[20240701 05:52:19]:  100000

[20240701 05:52:19]: send is: {"command":"get_joint_max_speed"}


[20240701 05:52:19]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 05:52:19]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 05:52:19]: [rm_get_joint_max_speed] joint_speed parse result:

[20240701 05:52:19]:  30000

[20240701 05:52:19]:  30000

[20240701 05:52:19]:  37500

[20240701 05:52:19]:  37500

[20240701 05:52:19]:  37500

[20240701 05:52:19]:  37500

[20240701 05:52:19]:  37500

[20240701 05:52:19]: send is: {"command":"set_modbustcp_mode","ip":"192.168.1.18","port":502,"timeout":5}


[20240701 05:52:19]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_modbustcp_mode","set_state":true}


[20240701 05:52:19]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_modbustcp_mode","set_state":true}


[20240701 05:52:19]: [rm_set_modbustcp_mode] set_state: true

[20240701 05:52:26]: send is: {"command":"read_holding_registers","port":3,"address":40001,"device":1}


[20240701 05:52:26]: thread_socket_receive len 47 robot_handle: 1 message:{"command":"read_holding_registers","data":0}


[20240701 05:52:26]: thread_socket_receive len 47 robot_handle: 1 message:{"command":"read_holding_registers","data":0}


[20240701 05:52:26]: [rm_read_holding_registers] data parse result: 0

[20240701 05:56:23]: send is: {"command":"write_single_register","port":3,"address":40002,"data":1234,"device":1}


[20240701 05:56:23]: thread_socket_receive len 94 robot_handle: 1 message:{"command":"read_holding_registers","data":0}


[20240701 05:56:23]: thread_socket_receive len 94 robot_handle: 1 message:{"command":"read_holding_registers","data":0}


[20240701 05:56:23]: thread_socket_receive len 56 robot_handle: 1 message:{"command":"write_single_register","write_state":true}


[20240701 05:56:23]: thread_socket_receive len 56 robot_handle: 1 message:{"command":"write_single_register","write_state":true}


[20240701 05:56:23]: [rm_write_single_register] write_state: true

[20240701 05:57:25] Begin API Testing.
[20240701 05:57:25]: send is: {"command":"get_arm_software_info"}


[20240701 05:57:25]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 05:57:25]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 05:57:25]: [rm_get_arm_software_info] Product version: RM75-6FI

[20240701 05:57:25]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240701 05:57:25]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240701 05:57:25]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240701 05:57:25]: [rm_get_arm_software_info] Dynamic model version: 2

[20240701 05:57:25]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240701 05:57:25]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240701 05:57:25]: send is: {"command":"get_realtime_push"}


[20240701 05:57:25]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240701 05:57:25]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240701 05:57:25]: [rm_get_realtime_push] cycle parse result: 1

[20240701 05:57:25]: [rm_get_realtime_push] port parse result: 8098

[20240701 05:57:25]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240701 05:57:25]: [rm_get_realtime_push] enable parse result: 1

[20240701 05:57:25]: [rm_get_realtime_push] force_coordinate parse result: 0

[20240701 05:57:25]: send is: {"command":"get_current_work_frame"}


[20240701 05:57:25]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 05:57:25]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 05:57:25]: [get_current_work_frame] Work frame Name: World

[20240701 05:57:25]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 05:57:25]: send is: {"command":"get_current_tool_frame"}


[20240701 05:57:25]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 05:57:25]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 05:57:25]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240701 05:57:25]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 05:57:25]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240701 05:57:25]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240701 05:57:25]: send is: {"command":"get_install_pose"}


[20240701 05:57:25]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 05:57:25]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 05:57:25]: [rm_get_install_pose] pose parse result:

[20240701 05:57:25]:  0

[20240701 05:57:25]:  0

[20240701 05:57:25]:  0

[20240701 05:57:25]: send is: {"command":"get_joint_min_pos"}


[20240701 05:57:25]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 05:57:25]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 05:57:25]: [rm_get_joint_min_pos] min_pos parse result:

[20240701 05:57:25]:  -178000

[20240701 05:57:25]:  -130000

[20240701 05:57:25]:  -178000

[20240701 05:57:25]:  -135000

[20240701 05:57:25]:  -178000

[20240701 05:57:25]:  -128000

[20240701 05:57:25]:  -360000

[20240701 05:57:25]: send is: {"command":"get_joint_max_pos"}


[20240701 05:57:25]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 05:57:25]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 05:57:25]: [rm_get_joint_max_pos] max_pos parse result:

[20240701 05:57:25]:  178000

[20240701 05:57:25]:  130000

[20240701 05:57:25]:  178000

[20240701 05:57:25]:  135000

[20240701 05:57:25]:  178000

[20240701 05:57:25]:  128000

[20240701 05:57:25]:  360000

[20240701 05:57:25]: send is: {"command":"get_joint_max_acc"}


[20240701 05:57:25]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 05:57:25]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 05:57:25]: [rm_get_joint_max_acc] joint_acc parse result:

[20240701 05:57:25]:  100000

[20240701 05:57:25]:  100000

[20240701 05:57:25]:  100000

[20240701 05:57:25]:  100000

[20240701 05:57:25]:  100000

[20240701 05:57:25]:  100000

[20240701 05:57:25]:  100000

[20240701 05:57:25]: send is: {"command":"get_joint_max_speed"}


[20240701 05:57:25]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 05:57:25]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 05:57:25]: [rm_get_joint_max_speed] joint_speed parse result:

[20240701 05:57:25]:  30000

[20240701 05:57:25]:  30000

[20240701 05:57:25]:  37500

[20240701 05:57:25]:  37500

[20240701 05:57:25]:  37500

[20240701 05:57:25]:  37500

[20240701 05:57:25]:  37500

[20240701 05:57:27]: send is: {"command":"set_modbustcp_mode","ip":"192.168.1.18","port":502,"timeout":5}


[20240701 05:57:27]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_modbustcp_mode","set_state":true}


[20240701 05:57:27]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_modbustcp_mode","set_state":true}


[20240701 05:57:27]: [rm_set_modbustcp_mode] set_state: true

[20240701 05:57:29]: send is: {"command":"read_holding_registers","port":3,"address":40001,"device":1}


[20240701 05:57:29]: thread_socket_receive len 47 robot_handle: 1 message:{"command":"read_holding_registers","data":0}


[20240701 05:57:29]: thread_socket_receive len 47 robot_handle: 1 message:{"command":"read_holding_registers","data":0}


[20240701 05:57:29]: [rm_read_holding_registers] data parse result: 0

[20240701 05:57:40]: send is: {"command":"write_single_register","port":3,"address":40002,"data":1234,"device":1}


[20240701 05:57:40]: thread_socket_receive len 56 robot_handle: 1 message:{"command":"write_single_register","write_state":true}


[20240701 05:57:40]: thread_socket_receive len 56 robot_handle: 1 message:{"command":"write_single_register","write_state":true}


[20240701 05:57:40]: [rm_write_single_register] write_state: true

[20240701 05:58:26] Begin API Testing.
[20240701 05:58:29]: send is: {"command":"get_arm_software_info"}


[20240701 05:58:29]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 05:58:29]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 05:58:29]: [rm_get_arm_software_info] Product version: RM75-6FI

[20240701 05:58:29]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240701 05:58:29]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240701 05:58:29]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240701 05:58:29]: [rm_get_arm_software_info] Dynamic model version: 2

[20240701 05:58:29]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240701 05:58:29]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240701 05:58:29]: send is: {"command":"get_realtime_push"}


[20240701 05:58:29]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240701 05:58:29]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240701 05:58:29]: [rm_get_realtime_push] cycle parse result: 1

[20240701 05:58:29]: [rm_get_realtime_push] port parse result: 8098

[20240701 05:58:29]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240701 05:58:29]: [rm_get_realtime_push] enable parse result: 1

[20240701 05:58:29]: [rm_get_realtime_push] force_coordinate parse result: 0

[20240701 05:58:29]: send is: {"command":"get_current_work_frame"}


[20240701 05:58:29]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 05:58:29]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 05:58:29]: [get_current_work_frame] Work frame Name: World

[20240701 05:58:29]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 05:58:29]: send is: {"command":"get_current_tool_frame"}


[20240701 05:58:29]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 05:58:29]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 05:58:29]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240701 05:58:29]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 05:58:29]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240701 05:58:29]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240701 05:58:29]: send is: {"command":"get_install_pose"}


[20240701 05:58:29]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 05:58:29]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 05:58:29]: [rm_get_install_pose] pose parse result:

[20240701 05:58:29]:  0

[20240701 05:58:29]:  0

[20240701 05:58:29]:  0

[20240701 05:58:29]: send is: {"command":"get_joint_min_pos"}


[20240701 05:58:29]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 05:58:29]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 05:58:29]: [rm_get_joint_min_pos] min_pos parse result:

[20240701 05:58:29]:  -178000

[20240701 05:58:29]:  -130000

[20240701 05:58:29]:  -178000

[20240701 05:58:29]:  -135000

[20240701 05:58:29]:  -178000

[20240701 05:58:29]:  -128000

[20240701 05:58:29]:  -360000

[20240701 05:58:29]: send is: {"command":"get_joint_max_pos"}


[20240701 05:58:29]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 05:58:29]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 05:58:29]: [rm_get_joint_max_pos] max_pos parse result:

[20240701 05:58:29]:  178000

[20240701 05:58:29]:  130000

[20240701 05:58:29]:  178000

[20240701 05:58:29]:  135000

[20240701 05:58:29]:  178000

[20240701 05:58:29]:  128000

[20240701 05:58:29]:  360000

[20240701 05:58:29]: send is: {"command":"get_joint_max_acc"}


[20240701 05:58:29]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 05:58:29]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 05:58:29]: [rm_get_joint_max_acc] joint_acc parse result:

[20240701 05:58:29]:  100000

[20240701 05:58:29]:  100000

[20240701 05:58:29]:  100000

[20240701 05:58:29]:  100000

[20240701 05:58:29]:  100000

[20240701 05:58:29]:  100000

[20240701 05:58:29]:  100000

[20240701 05:58:29]: send is: {"command":"get_joint_max_speed"}


[20240701 05:58:29]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 05:58:29]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 05:58:29]: [rm_get_joint_max_speed] joint_speed parse result:

[20240701 05:58:29]:  30000

[20240701 05:58:29]:  30000

[20240701 05:58:29]:  37500

[20240701 05:58:29]:  37500

[20240701 05:58:29]:  37500

[20240701 05:58:29]:  37500

[20240701 05:58:29]:  37500

[20240701 05:59:56]: send is: {"command":"set_modbustcp_mode","ip":"192.168.1.18","port":502,"timeout":5}


[20240701 05:59:56]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_modbustcp_mode","set_state":true}


[20240701 05:59:56]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_modbustcp_mode","set_state":true}


[20240701 05:59:56]: [rm_set_modbustcp_mode] set_state: true

[20240701 05:59:57]: send is: {"command":"read_holding_registers","port":3,"address":40001,"device":1}


[20240701 05:59:57]: thread_socket_receive len 47 robot_handle: 1 message:{"command":"read_holding_registers","data":0}


[20240701 05:59:57]: thread_socket_receive len 47 robot_handle: 1 message:{"command":"read_holding_registers","data":0}


[20240701 05:59:57]: [rm_read_holding_registers] data parse result: 0

[20240701 05:59:57]: send is: {"command":"write_single_register","port":3,"address":40002,"data":1234,"device":1}


[20240701 05:59:57]: thread_socket_receive len 56 robot_handle: 1 message:{"command":"write_single_register","write_state":true}


[20240701 05:59:57]: thread_socket_receive len 56 robot_handle: 1 message:{"command":"write_single_register","write_state":true}


[20240701 05:59:57]: [rm_write_single_register] write_state: true

[20240701 06:00:00]: send is: {"command":"read_multiple_holding_registers","port":3,"address":40003,"num":5,"device":1}


[20240701 06:00:00]: thread_socket_receive len 76 robot_handle: 1 message:{"command":"read_multiple_holding_registers","data":[0,0,0,0,0,0,0,0,0,0]}


[20240701 06:00:00]: thread_socket_receive len 76 robot_handle: 1 message:{"command":"read_multiple_holding_registers","data":[0,0,0,0,0,0,0,0,0,0]}


[20240701 06:00:00]: [rm_read_multiple_holding_registers] data parse result:

[20240701 06:00:00]:  0

[20240701 06:00:00]:  0

[20240701 06:00:00]:  0

[20240701 06:00:00]:  0

[20240701 06:00:00]:  0

[20240701 06:00:00]:  0

[20240701 06:00:00]:  0

[20240701 06:00:00]:  0

[20240701 06:00:00]:  0

[20240701 06:00:00]:  0

[20240701 06:02:34] Begin API Testing.
[20240701 06:02:37]: send is: {"command":"get_arm_software_info"}


[20240701 06:02:37]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 06:02:37]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 06:02:37]: [rm_get_arm_software_info] Product version: RM75-6FI

[20240701 06:02:37]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240701 06:02:37]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240701 06:02:37]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240701 06:02:37]: [rm_get_arm_software_info] Dynamic model version: 2

[20240701 06:02:37]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240701 06:02:37]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240701 06:02:37]: send is: {"command":"get_realtime_push"}


[20240701 06:02:37]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240701 06:02:37]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240701 06:02:37]: [rm_get_realtime_push] cycle parse result: 1

[20240701 06:02:37]: [rm_get_realtime_push] port parse result: 8098

[20240701 06:02:37]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240701 06:02:37]: [rm_get_realtime_push] enable parse result: 1

[20240701 06:02:37]: [rm_get_realtime_push] force_coordinate parse result: 0

[20240701 06:02:37]: send is: {"command":"get_current_work_frame"}


[20240701 06:02:37]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 06:02:37]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 06:02:37]: [get_current_work_frame] Work frame Name: World

[20240701 06:02:37]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 06:02:37]: send is: {"command":"get_current_tool_frame"}


[20240701 06:02:37]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 06:02:37]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 06:02:37]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240701 06:02:37]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 06:02:37]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240701 06:02:37]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240701 06:02:37]: send is: {"command":"get_install_pose"}


[20240701 06:02:37]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 06:02:37]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 06:02:37]: [rm_get_install_pose] pose parse result:

[20240701 06:02:37]:  0

[20240701 06:02:37]:  0

[20240701 06:02:37]:  0

[20240701 06:02:37]: send is: {"command":"get_joint_min_pos"}


[20240701 06:02:37]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 06:02:37]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 06:02:37]: [rm_get_joint_min_pos] min_pos parse result:

[20240701 06:02:37]:  -178000

[20240701 06:02:37]:  -130000

[20240701 06:02:37]:  -178000

[20240701 06:02:37]:  -135000

[20240701 06:02:37]:  -178000

[20240701 06:02:37]:  -128000

[20240701 06:02:37]:  -360000

[20240701 06:02:37]: send is: {"command":"get_joint_max_pos"}


[20240701 06:02:37]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 06:02:37]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 06:02:37]: [rm_get_joint_max_pos] max_pos parse result:

[20240701 06:02:37]:  178000

[20240701 06:02:37]:  130000

[20240701 06:02:37]:  178000

[20240701 06:02:37]:  135000

[20240701 06:02:37]:  178000

[20240701 06:02:37]:  128000

[20240701 06:02:37]:  360000

[20240701 06:02:37]: send is: {"command":"get_joint_max_acc"}


[20240701 06:02:37]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 06:02:37]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 06:02:37]: [rm_get_joint_max_acc] joint_acc parse result:

[20240701 06:02:37]:  100000

[20240701 06:02:37]:  100000

[20240701 06:02:37]:  100000

[20240701 06:02:37]:  100000

[20240701 06:02:37]:  100000

[20240701 06:02:37]:  100000

[20240701 06:02:37]:  100000

[20240701 06:02:37]: send is: {"command":"get_joint_max_speed"}


[20240701 06:02:37]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 06:02:37]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 06:02:37]: [rm_get_joint_max_speed] joint_speed parse result:

[20240701 06:02:37]:  30000

[20240701 06:02:37]:  30000

[20240701 06:02:37]:  37500

[20240701 06:02:37]:  37500

[20240701 06:02:37]:  37500

[20240701 06:02:37]:  37500

[20240701 06:02:37]:  37500

[20240701 06:02:37]: send is: {"command":"set_modbustcp_mode","ip":"192.168.1.18","port":502,"timeout":5}


[20240701 06:02:37]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_modbustcp_mode","set_state":true}


[20240701 06:02:37]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_modbustcp_mode","set_state":true}


[20240701 06:02:37]: [rm_set_modbustcp_mode] set_state: true

[20240701 06:02:38]: send is: {"command":"read_holding_registers","port":3,"address":40001,"device":1}


[20240701 06:02:38]: thread_socket_receive len 47 robot_handle: 1 message:{"command":"read_holding_registers","data":0}


[20240701 06:02:38]: thread_socket_receive len 47 robot_handle: 1 message:{"command":"read_holding_registers","data":0}


[20240701 06:02:38]: [rm_read_holding_registers] data parse result: 0

[20240701 06:02:38]: send is: {"command":"write_single_register","port":3,"address":40002,"data":1234,"device":1}


[20240701 06:02:38]: thread_socket_receive len 56 robot_handle: 1 message:{"command":"write_single_register","write_state":true}


[20240701 06:02:38]: thread_socket_receive len 56 robot_handle: 1 message:{"command":"write_single_register","write_state":true}


[20240701 06:02:38]: [rm_write_single_register] write_state: true

[20240701 06:15:11] Begin API Testing.
[20240701 06:15:11]: send is: {"command":"get_arm_software_info"}


[20240701 06:15:11]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 06:15:11]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 06:15:11]: [rm_get_arm_software_info] Product version: RM75-6FI

[20240701 06:15:11]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240701 06:15:11]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240701 06:15:11]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240701 06:15:11]: [rm_get_arm_software_info] Dynamic model version: 2

[20240701 06:15:11]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240701 06:15:11]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240701 06:15:11]: send is: {"command":"get_realtime_push"}


[20240701 06:15:11]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240701 06:15:11]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240701 06:15:11]: [rm_get_realtime_push] cycle parse result: 1

[20240701 06:15:11]: [rm_get_realtime_push] port parse result: 8098

[20240701 06:15:11]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240701 06:15:11]: [rm_get_realtime_push] enable parse result: 1

[20240701 06:15:11]: [rm_get_realtime_push] force_coordinate parse result: 0

[20240701 06:15:11]: send is: {"command":"get_current_work_frame"}


[20240701 06:15:11]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 06:15:11]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 06:15:11]: [get_current_work_frame] Work frame Name: World

[20240701 06:15:11]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 06:15:11]: send is: {"command":"get_current_tool_frame"}


[20240701 06:15:11]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 06:15:11]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 06:15:11]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240701 06:15:11]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 06:15:11]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240701 06:15:11]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240701 06:15:11]: send is: {"command":"get_install_pose"}


[20240701 06:15:11]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 06:15:11]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 06:15:11]: [rm_get_install_pose] pose parse result:

[20240701 06:15:11]:  0

[20240701 06:15:11]:  0

[20240701 06:15:11]:  0

[20240701 06:15:11]: send is: {"command":"get_joint_min_pos"}


[20240701 06:15:11]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 06:15:11]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 06:15:11]: [rm_get_joint_min_pos] min_pos parse result:

[20240701 06:15:11]:  -178000

[20240701 06:15:11]:  -130000

[20240701 06:15:11]:  -178000

[20240701 06:15:11]:  -135000

[20240701 06:15:11]:  -178000

[20240701 06:15:11]:  -128000

[20240701 06:15:11]:  -360000

[20240701 06:15:11]: send is: {"command":"get_joint_max_pos"}


[20240701 06:15:11]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 06:15:11]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 06:15:11]: [rm_get_joint_max_pos] max_pos parse result:

[20240701 06:15:11]:  178000

[20240701 06:15:11]:  130000

[20240701 06:15:11]:  178000

[20240701 06:15:11]:  135000

[20240701 06:15:11]:  178000

[20240701 06:15:11]:  128000

[20240701 06:15:11]:  360000

[20240701 06:15:11]: send is: {"command":"get_joint_max_acc"}


[20240701 06:15:11]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 06:15:11]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 06:15:11]: [rm_get_joint_max_acc] joint_acc parse result:

[20240701 06:15:11]:  100000

[20240701 06:15:11]:  100000

[20240701 06:15:11]:  100000

[20240701 06:15:11]:  100000

[20240701 06:15:11]:  100000

[20240701 06:15:11]:  100000

[20240701 06:15:11]:  100000

[20240701 06:15:11]: send is: {"command":"get_joint_max_speed"}


[20240701 06:15:11]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 06:15:11]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 06:15:11]: [rm_get_joint_max_speed] joint_speed parse result:

[20240701 06:15:11]:  30000

[20240701 06:15:11]:  30000

[20240701 06:15:11]:  37500

[20240701 06:15:11]:  37500

[20240701 06:15:11]:  37500

[20240701 06:15:11]:  37500

[20240701 06:15:11]:  37500

[20240701 06:15:11]: send is: {"command":"set_modbustcp_mode","ip":"192.168.1.18","port":502,"timeout":5}


[20240701 06:15:11]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_modbustcp_mode","set_state":true}


[20240701 06:15:11]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_modbustcp_mode","set_state":true}


[20240701 06:15:11]: [rm_set_modbustcp_mode] set_state: true

[20240701 06:15:11]: send is: {"command":"read_holding_registers","port":3,"address":40001,"device":1}


[20240701 06:15:11]: thread_socket_receive len 47 robot_handle: 1 message:{"command":"read_holding_registers","data":0}


[20240701 06:15:11]: thread_socket_receive len 47 robot_handle: 1 message:{"command":"read_holding_registers","data":0}


[20240701 06:15:11]: [rm_read_holding_registers] data parse result: 0

[20240701 06:15:11]: send is: {"command":"write_single_register","port":3,"address":102,"data":1234,"device":1}


[20240701 06:15:11]: thread_socket_receive len 56 robot_handle: 1 message:{"command":"write_single_register","write_state":true}


[20240701 06:15:11]: thread_socket_receive len 56 robot_handle: 1 message:{"command":"write_single_register","write_state":true}


[20240701 06:15:11]: [rm_write_single_register] write_state: true

[20240701 06:15:11]: send is: {"command":"read_multiple_holding_registers","port":3,"address":103,"num":5,"device":1}


[20240701 06:15:11]: thread_socket_receive len 76 robot_handle: 1 message:{"command":"read_multiple_holding_registers","data":[0,0,0,0,0,0,0,0,0,0]}


[20240701 06:15:11]: thread_socket_receive len 76 robot_handle: 1 message:{"command":"read_multiple_holding_registers","data":[0,0,0,0,0,0,0,0,0,0]}


[20240701 06:15:11]: [rm_read_multiple_holding_registers] data parse result:

[20240701 06:15:11]:  0

[20240701 06:15:11]:  0

[20240701 06:15:11]:  0

[20240701 06:15:11]:  0

[20240701 06:15:11]:  0

[20240701 06:15:11]:  0

[20240701 06:15:11]:  0

[20240701 06:15:11]:  0

[20240701 06:15:11]:  0

[20240701 06:15:11]:  0

[20240701 06:15:11]: send is: {"command":"close_modbustcp_mode"}


[20240701 06:15:11]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"close_modbustcp_mode","set_state":true}


[20240701 06:15:11]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"close_modbustcp_mode","set_state":true}


[20240701 06:15:11]: [rm_close_modbustcp_mode] set_state: true

[20240701 06:18:38] Begin API Testing.
[20240701 06:18:38]: send is: {"command":"get_arm_software_info"}


[20240701 06:18:39]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 06:18:39]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 06:18:39]: [rm_get_arm_software_info] Product version: RM75-6FI

[20240701 06:18:39]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240701 06:18:39]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240701 06:18:39]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240701 06:18:39]: [rm_get_arm_software_info] Dynamic model version: 2

[20240701 06:18:39]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240701 06:18:39]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240701 06:18:39]: send is: {"command":"get_realtime_push"}


[20240701 06:18:39]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240701 06:18:39]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240701 06:18:39]: [rm_get_realtime_push] cycle parse result: 1

[20240701 06:18:39]: [rm_get_realtime_push] port parse result: 8098

[20240701 06:18:39]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240701 06:18:39]: [rm_get_realtime_push] enable parse result: 1

[20240701 06:18:39]: [rm_get_realtime_push] force_coordinate parse result: 0

[20240701 06:18:39]: send is: {"command":"get_current_work_frame"}


[20240701 06:18:39]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 06:18:39]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 06:18:39]: [get_current_work_frame] Work frame Name: World

[20240701 06:18:39]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 06:18:39]: send is: {"command":"get_current_tool_frame"}


[20240701 06:18:39]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 06:18:39]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 06:18:39]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240701 06:18:39]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 06:18:39]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240701 06:18:39]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240701 06:18:39]: send is: {"command":"get_install_pose"}


[20240701 06:18:39]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 06:18:39]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 06:18:39]: [rm_get_install_pose] pose parse result:

[20240701 06:18:39]:  0

[20240701 06:18:39]:  0

[20240701 06:18:39]:  0

[20240701 06:18:39]: send is: {"command":"get_joint_min_pos"}


[20240701 06:18:39]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 06:18:39]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 06:18:39]: [rm_get_joint_min_pos] min_pos parse result:

[20240701 06:18:39]:  -178000

[20240701 06:18:39]:  -130000

[20240701 06:18:39]:  -178000

[20240701 06:18:39]:  -135000

[20240701 06:18:39]:  -178000

[20240701 06:18:39]:  -128000

[20240701 06:18:39]:  -360000

[20240701 06:18:39]: send is: {"command":"get_joint_max_pos"}


[20240701 06:18:39]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 06:18:39]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 06:18:39]: [rm_get_joint_max_pos] max_pos parse result:

[20240701 06:18:39]:  178000

[20240701 06:18:39]:  130000

[20240701 06:18:39]:  178000

[20240701 06:18:39]:  135000

[20240701 06:18:39]:  178000

[20240701 06:18:39]:  128000

[20240701 06:18:39]:  360000

[20240701 06:18:39]: send is: {"command":"get_joint_max_acc"}


[20240701 06:18:39]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 06:18:39]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 06:18:39]: [rm_get_joint_max_acc] joint_acc parse result:

[20240701 06:18:39]:  100000

[20240701 06:18:39]:  100000

[20240701 06:18:39]:  100000

[20240701 06:18:39]:  100000

[20240701 06:18:39]:  100000

[20240701 06:18:39]:  100000

[20240701 06:18:39]:  100000

[20240701 06:18:39]: send is: {"command":"get_joint_max_speed"}


[20240701 06:18:39]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 06:18:39]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 06:18:39]: [rm_get_joint_max_speed] joint_speed parse result:

[20240701 06:18:39]:  30000

[20240701 06:18:39]:  30000

[20240701 06:18:39]:  37500

[20240701 06:18:39]:  37500

[20240701 06:18:39]:  37500

[20240701 06:18:39]:  37500

[20240701 06:18:39]:  37500

[20240701 06:18:39]: send is: {"command":"set_modbustcp_mode","ip":"192.168.1.18","port":502,"timeout":5}


[20240701 06:18:39]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_modbustcp_mode","set_state":true}


[20240701 06:18:39]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_modbustcp_mode","set_state":true}


[20240701 06:18:39]: [rm_set_modbustcp_mode] set_state: true

[20240701 06:18:39]: send is: {"command":"read_holding_registers","port":3,"address":40001,"device":1}


[20240701 06:18:39]: thread_socket_receive len 47 robot_handle: 1 message:{"command":"read_holding_registers","data":0}


[20240701 06:18:39]: thread_socket_receive len 47 robot_handle: 1 message:{"command":"read_holding_registers","data":0}


[20240701 06:18:39]: [rm_read_holding_registers] data parse result: 0

[20240701 06:18:39]: send is: {"command":"write_single_register","port":3,"address":102,"data":1234,"device":1}


[20240701 06:18:39]: thread_socket_receive len 56 robot_handle: 1 message:{"command":"write_single_register","write_state":true}


[20240701 06:18:39]: thread_socket_receive len 56 robot_handle: 1 message:{"command":"write_single_register","write_state":true}


[20240701 06:18:39]: [rm_write_single_register] write_state: true

[20240701 06:18:39]: send is: {"command":"read_multiple_holding_registers","port":3,"address":103,"num":5,"device":1}


[20240701 06:18:39]: thread_socket_receive len 76 robot_handle: 1 message:{"command":"read_multiple_holding_registers","data":[0,0,0,0,0,0,0,0,0,0]}


[20240701 06:18:39]: thread_socket_receive len 76 robot_handle: 1 message:{"command":"read_multiple_holding_registers","data":[0,0,0,0,0,0,0,0,0,0]}


[20240701 06:18:39]: [rm_read_multiple_holding_registers] data parse result:

[20240701 06:18:39]:  0

[20240701 06:18:39]:  0

[20240701 06:18:39]:  0

[20240701 06:18:39]:  0

[20240701 06:18:39]:  0

[20240701 06:18:39]:  0

[20240701 06:18:39]:  0

[20240701 06:18:39]:  0

[20240701 06:18:39]:  0

[20240701 06:18:39]:  0

[20240701 06:18:39]: send is: {"command":"close_modbustcp_mode"}


[20240701 06:18:39]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"close_modbustcp_mode","set_state":true}


[20240701 06:18:39]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"close_modbustcp_mode","set_state":true}


[20240701 06:18:39]: [rm_close_modbustcp_mode] set_state: true

[20240701 06:58:27] Begin API Testing.
[20240701 06:58:27]: send is: {"command":"get_arm_software_info"}


[20240701 06:58:27]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 06:58:27]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 06:58:27]: [rm_get_arm_software_info] Product version: RM75-6FI

[20240701 06:58:27]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240701 06:58:27]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240701 06:58:27]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240701 06:58:27]: [rm_get_arm_software_info] Dynamic model version: 2

[20240701 06:58:27]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240701 06:58:27]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240701 06:58:27]: send is: {"command":"get_realtime_push"}


[20240701 06:58:27]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240701 06:58:27]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240701 06:58:27]: [rm_get_realtime_push] cycle parse result: 1

[20240701 06:58:27]: [rm_get_realtime_push] port parse result: 8098

[20240701 06:58:27]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240701 06:58:27]: [rm_get_realtime_push] enable parse result: 1

[20240701 06:58:27]: [rm_get_realtime_push] force_coordinate parse result: 0

[20240701 06:58:27]: send is: {"command":"get_current_work_frame"}


[20240701 06:58:27]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 06:58:27]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 06:58:27]: [get_current_work_frame] Work frame Name: World

[20240701 06:58:27]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 06:58:27]: send is: {"command":"get_current_tool_frame"}


[20240701 06:58:27]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 06:58:27]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 06:58:27]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240701 06:58:27]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 06:58:27]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240701 06:58:27]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240701 06:58:27]: send is: {"command":"get_install_pose"}


[20240701 06:58:27]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 06:58:27]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 06:58:27]: [rm_get_install_pose] pose parse result:

[20240701 06:58:27]:  0

[20240701 06:58:27]:  0

[20240701 06:58:27]:  0

[20240701 06:58:27]: send is: {"command":"get_joint_min_pos"}


[20240701 06:58:27]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 06:58:27]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 06:58:27]: [rm_get_joint_min_pos] min_pos parse result:

[20240701 06:58:27]:  -178000

[20240701 06:58:27]:  -130000

[20240701 06:58:27]:  -178000

[20240701 06:58:27]:  -135000

[20240701 06:58:27]:  -178000

[20240701 06:58:27]:  -128000

[20240701 06:58:27]:  -360000

[20240701 06:58:27]: send is: {"command":"get_joint_max_pos"}


[20240701 06:58:27]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 06:58:27]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 06:58:27]: [rm_get_joint_max_pos] max_pos parse result:

[20240701 06:58:27]:  178000

[20240701 06:58:27]:  130000

[20240701 06:58:27]:  178000

[20240701 06:58:27]:  135000

[20240701 06:58:27]:  178000

[20240701 06:58:27]:  128000

[20240701 06:58:27]:  360000

[20240701 06:58:27]: send is: {"command":"get_joint_max_acc"}


[20240701 06:58:27]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 06:58:27]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 06:58:27]: [rm_get_joint_max_acc] joint_acc parse result:

[20240701 06:58:27]:  100000

[20240701 06:58:27]:  100000

[20240701 06:58:27]:  100000

[20240701 06:58:27]:  100000

[20240701 06:58:27]:  100000

[20240701 06:58:27]:  100000

[20240701 06:58:27]:  100000

[20240701 06:58:27]: send is: {"command":"get_joint_max_speed"}


[20240701 06:58:27]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 06:58:27]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 06:58:27]: [rm_get_joint_max_speed] joint_speed parse result:

[20240701 06:58:27]:  30000

[20240701 06:58:27]:  30000

[20240701 06:58:27]:  37500

[20240701 06:58:27]:  37500

[20240701 06:58:27]:  37500

[20240701 06:58:27]:  37500

[20240701 06:58:27]:  37500

[20240701 07:01:02] Begin API Testing.
[20240701 07:01:02]: send is: {"command":"get_arm_software_info"}


[20240701 07:01:02]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 07:01:02]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 07:01:02]: [rm_get_arm_software_info] Product version: RM75-6FI

[20240701 07:01:02]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240701 07:01:02]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240701 07:01:02]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240701 07:01:02]: [rm_get_arm_software_info] Dynamic model version: 2

[20240701 07:01:02]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240701 07:01:02]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240701 07:01:02]: send is: {"command":"get_realtime_push"}


[20240701 07:01:02]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240701 07:01:02]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240701 07:01:02]: [rm_get_realtime_push] cycle parse result: 1

[20240701 07:01:02]: [rm_get_realtime_push] port parse result: 8098

[20240701 07:01:02]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240701 07:01:02]: [rm_get_realtime_push] enable parse result: 1

[20240701 07:01:02]: [rm_get_realtime_push] force_coordinate parse result: 0

[20240701 07:01:02]: send is: {"command":"get_current_work_frame"}


[20240701 07:01:02]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 07:01:02]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 07:01:02]: [get_current_work_frame] Work frame Name: World

[20240701 07:01:02]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 07:01:02]: send is: {"command":"get_current_tool_frame"}


[20240701 07:01:02]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 07:01:02]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 07:01:02]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240701 07:01:02]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 07:01:02]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240701 07:01:02]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240701 07:01:02]: send is: {"command":"get_install_pose"}


[20240701 07:01:02]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 07:01:02]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 07:01:02]: [rm_get_install_pose] pose parse result:

[20240701 07:01:02]:  0

[20240701 07:01:02]:  0

[20240701 07:01:02]:  0

[20240701 07:01:02]: send is: {"command":"get_joint_min_pos"}


[20240701 07:01:02]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 07:01:02]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 07:01:02]: [rm_get_joint_min_pos] min_pos parse result:

[20240701 07:01:02]:  -178000

[20240701 07:01:02]:  -130000

[20240701 07:01:02]:  -178000

[20240701 07:01:02]:  -135000

[20240701 07:01:02]:  -178000

[20240701 07:01:02]:  -128000

[20240701 07:01:02]:  -360000

[20240701 07:01:02]: send is: {"command":"get_joint_max_pos"}


[20240701 07:01:02]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 07:01:02]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 07:01:02]: [rm_get_joint_max_pos] max_pos parse result:

[20240701 07:01:02]:  178000

[20240701 07:01:02]:  130000

[20240701 07:01:02]:  178000

[20240701 07:01:02]:  135000

[20240701 07:01:02]:  178000

[20240701 07:01:02]:  128000

[20240701 07:01:02]:  360000

[20240701 07:01:02]: send is: {"command":"get_joint_max_acc"}


[20240701 07:01:02]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 07:01:02]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 07:01:02]: [rm_get_joint_max_acc] joint_acc parse result:

[20240701 07:01:02]:  100000

[20240701 07:01:02]:  100000

[20240701 07:01:02]:  100000

[20240701 07:01:02]:  100000

[20240701 07:01:02]:  100000

[20240701 07:01:02]:  100000

[20240701 07:01:02]:  100000

[20240701 07:01:02]: send is: {"command":"get_joint_max_speed"}


[20240701 07:01:02]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 07:01:02]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 07:01:02]: [rm_get_joint_max_speed] joint_speed parse result:

[20240701 07:01:02]:  30000

[20240701 07:01:02]:  30000

[20240701 07:01:02]:  37500

[20240701 07:01:02]:  37500

[20240701 07:01:02]:  37500

[20240701 07:01:02]:  37500

[20240701 07:01:02]:  37500

[20240701 07:01:49] Begin API Testing.
[20240701 07:01:49]: send is: {"command":"get_arm_software_info"}


[20240701 07:01:49]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 07:01:49]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 07:01:49]: [rm_get_arm_software_info] Product version: RM75-6FI

[20240701 07:01:49]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240701 07:01:49]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240701 07:01:49]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240701 07:01:49]: [rm_get_arm_software_info] Dynamic model version: 2

[20240701 07:01:49]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240701 07:01:49]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240701 07:01:49]: send is: {"command":"get_realtime_push"}


[20240701 07:01:49]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240701 07:01:49]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240701 07:01:49]: [rm_get_realtime_push] cycle parse result: 1

[20240701 07:01:49]: [rm_get_realtime_push] port parse result: 8098

[20240701 07:01:49]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240701 07:01:49]: [rm_get_realtime_push] enable parse result: 1

[20240701 07:01:49]: [rm_get_realtime_push] force_coordinate parse result: 0

[20240701 07:01:49]: send is: {"command":"get_current_work_frame"}


[20240701 07:01:49]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 07:01:49]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 07:01:49]: [get_current_work_frame] Work frame Name: World

[20240701 07:01:49]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 07:01:49]: send is: {"command":"get_current_tool_frame"}


[20240701 07:01:49]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 07:01:49]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 07:01:49]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240701 07:01:49]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 07:01:49]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240701 07:01:49]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240701 07:01:49]: send is: {"command":"get_install_pose"}


[20240701 07:01:49]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 07:01:49]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 07:01:49]: [rm_get_install_pose] pose parse result:

[20240701 07:01:49]:  0

[20240701 07:01:49]:  0

[20240701 07:01:49]:  0

[20240701 07:01:49]: send is: {"command":"get_joint_min_pos"}


[20240701 07:01:49]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 07:01:49]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 07:01:49]: [rm_get_joint_min_pos] min_pos parse result:

[20240701 07:01:49]:  -178000

[20240701 07:01:49]:  -130000

[20240701 07:01:49]:  -178000

[20240701 07:01:49]:  -135000

[20240701 07:01:49]:  -178000

[20240701 07:01:49]:  -128000

[20240701 07:01:49]:  -360000

[20240701 07:01:49]: send is: {"command":"get_joint_max_pos"}


[20240701 07:01:49]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 07:01:49]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 07:01:49]: [rm_get_joint_max_pos] max_pos parse result:

[20240701 07:01:49]:  178000

[20240701 07:01:49]:  130000

[20240701 07:01:49]:  178000

[20240701 07:01:49]:  135000

[20240701 07:01:49]:  178000

[20240701 07:01:49]:  128000

[20240701 07:01:49]:  360000

[20240701 07:01:49]: send is: {"command":"get_joint_max_acc"}


[20240701 07:01:49]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 07:01:49]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 07:01:49]: [rm_get_joint_max_acc] joint_acc parse result:

[20240701 07:01:49]:  100000

[20240701 07:01:49]:  100000

[20240701 07:01:49]:  100000

[20240701 07:01:49]:  100000

[20240701 07:01:49]:  100000

[20240701 07:01:49]:  100000

[20240701 07:01:49]:  100000

[20240701 07:01:49]: send is: {"command":"get_joint_max_speed"}


[20240701 07:01:49]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 07:01:49]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 07:01:49]: [rm_get_joint_max_speed] joint_speed parse result:

[20240701 07:01:49]:  30000

[20240701 07:01:49]:  30000

[20240701 07:01:49]:  37500

[20240701 07:01:49]:  37500

[20240701 07:01:49]:  37500

[20240701 07:01:49]:  37500

[20240701 07:01:49]:  37500

[20240701 22:21:39] Begin API Testing.
[20240701 22:21:39]: send is: {"command":"get_arm_software_info"}


[20240701 22:21:39]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 22:21:39]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240701 22:21:39]: [rm_get_arm_software_info] Product version: RM75-6FI

[20240701 22:21:39]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240701 22:21:39]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240701 22:21:39]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240701 22:21:39]: [rm_get_arm_software_info] Dynamic model version: 2

[20240701 22:21:39]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240701 22:21:39]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240701 22:21:39]: send is: {"command":"get_realtime_push"}


[20240701 22:21:39]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240701 22:21:39]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240701 22:21:39]: [rm_get_realtime_push] cycle parse result: 1

[20240701 22:21:39]: [rm_get_realtime_push] port parse result: 8098

[20240701 22:21:39]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240701 22:21:39]: [rm_get_realtime_push] enable parse result: 1

[20240701 22:21:39]: [rm_get_realtime_push] force_coordinate parse result: 0

[20240701 22:21:39]: send is: {"command":"get_current_work_frame"}


[20240701 22:21:39]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 22:21:39]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240701 22:21:39]: [get_current_work_frame] Work frame Name: World

[20240701 22:21:39]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 22:21:39]: send is: {"command":"get_current_tool_frame"}


[20240701 22:21:39]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 22:21:39]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240701 22:21:39]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240701 22:21:39]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240701 22:21:39]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240701 22:21:39]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240701 22:21:39]: send is: {"command":"get_install_pose"}


[20240701 22:21:39]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 22:21:39]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240701 22:21:39]: [rm_get_install_pose] pose parse result:

[20240701 22:21:39]:  0

[20240701 22:21:39]:  0

[20240701 22:21:39]:  0

[20240701 22:21:39]: send is: {"command":"get_joint_min_pos"}


[20240701 22:21:39]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 22:21:39]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240701 22:21:39]: [rm_get_joint_min_pos] min_pos parse result:

[20240701 22:21:39]:  -178000

[20240701 22:21:39]:  -130000

[20240701 22:21:39]:  -178000

[20240701 22:21:39]:  -135000

[20240701 22:21:39]:  -178000

[20240701 22:21:39]:  -128000

[20240701 22:21:39]:  -360000

[20240701 22:21:39]: send is: {"command":"get_joint_max_pos"}


[20240701 22:21:39]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 22:21:39]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240701 22:21:39]: [rm_get_joint_max_pos] max_pos parse result:

[20240701 22:21:39]:  178000

[20240701 22:21:39]:  130000

[20240701 22:21:39]:  178000

[20240701 22:21:39]:  135000

[20240701 22:21:39]:  178000

[20240701 22:21:39]:  128000

[20240701 22:21:39]:  360000

[20240701 22:21:39]: send is: {"command":"get_joint_max_acc"}


[20240701 22:21:39]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 22:21:39]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240701 22:21:39]: [rm_get_joint_max_acc] joint_acc parse result:

[20240701 22:21:39]:  100000

[20240701 22:21:39]:  100000

[20240701 22:21:39]:  100000

[20240701 22:21:39]:  100000

[20240701 22:21:39]:  100000

[20240701 22:21:39]:  100000

[20240701 22:21:39]:  100000

[20240701 22:21:39]: send is: {"command":"get_joint_max_speed"}


[20240701 22:21:39]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 22:21:39]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240701 22:21:39]: [rm_get_joint_max_speed] joint_speed parse result:

[20240701 22:21:39]:  30000

[20240701 22:21:39]:  30000

[20240701 22:21:39]:  37500

[20240701 22:21:39]:  37500

[20240701 22:21:39]:  37500

[20240701 22:21:39]:  37500

[20240701 22:21:39]:  37500

[20240701 22:21:39]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240701 22:21:39]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240701 22:21:39]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240701 22:21:39]: [rm_movej_p] receive_state: true

[20240701 22:21:42]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240701 22:21:42]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240701 22:21:42]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240701 22:21:42]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240701 22:21:42]: [rm_set_force_position] set_state: true

[20240701 22:21:42]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240701 22:21:42]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240701 22:21:42]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240701 22:21:42]: [rm_movel] receive_state: true

[20240701 22:21:42]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240701 22:21:42]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240701 22:21:42]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240701 22:21:42]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240701 22:21:42]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240701 22:21:42]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240701 22:21:42]: [rm_movel] receive_state: true

[20240701 22:21:42]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240701 22:21:42]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240701 22:21:42]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240701 22:21:42]: send is: {"command":"stop_force_position"}


[20240701 22:21:42]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240701 22:21:42]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240701 22:21:42]: [rm_stop_force_position] stop_state: true

[20240701 22:21:42]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240701 22:21:42]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240701 22:21:42]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240701 22:21:42]: [rm_set_force_position] set_state: true

[20240701 22:21:42]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240701 22:21:42]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240701 22:21:42]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240701 22:21:42]: [rm_movel] receive_state: true

[20240701 22:21:42]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240701 22:21:42]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240701 22:21:42]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240701 22:21:42]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240701 22:21:42]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240701 22:21:42]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240701 22:21:42]: [rm_movel] receive_state: true

[20240701 22:21:42]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240701 22:21:42]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240701 22:21:42]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240701 22:21:42]: send is: {"command":"stop_force_position"}


[20240701 22:21:42]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240701 22:21:42]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240701 22:21:42]: [rm_stop_force_position] stop_state: true

[20240701 22:21:42]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240701 22:21:42]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240701 22:21:42]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240701 22:21:42]: [rm_set_force_position] set_state: true

[20240701 22:21:42]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240701 22:21:42]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240701 22:21:42]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240701 22:21:42]: [rm_movel] receive_state: true

[20240701 22:21:42]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240701 22:21:42]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240701 22:21:42]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240701 22:21:42]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240701 22:21:42]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240701 22:21:42]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240701 22:21:42]: [rm_movel] receive_state: true

[20240701 22:21:43]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240701 22:21:43]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240701 22:21:43]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240701 22:21:43]: send is: {"command":"stop_force_position"}


[20240701 22:21:43]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240701 22:21:43]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240701 22:21:43]: [rm_stop_force_position] stop_state: true

[20240702 00:50:19] Begin API Testing.
[20240702 00:50:19]: send is: {"command":"get_arm_software_info"}


[20240702 00:50:19]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240702 00:50:19]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240702 00:50:19]: [rm_get_arm_software_info] Product version: RM75-6FI

[20240702 00:50:19]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240702 00:50:19]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240702 00:50:19]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240702 00:50:19]: [rm_get_arm_software_info] Dynamic model version: 2

[20240702 00:50:19]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240702 00:50:19]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240702 00:50:19]: send is: {"command":"get_realtime_push"}


[20240702 00:50:19]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240702 00:50:19]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240702 00:50:19]: [rm_get_realtime_push] cycle parse result: 1

[20240702 00:50:19]: [rm_get_realtime_push] port parse result: 8098

[20240702 00:50:19]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240702 00:50:19]: [rm_get_realtime_push] enable parse result: 1

[20240702 00:50:19]: [rm_get_realtime_push] force_coordinate parse result: 0

[20240702 00:50:19]: send is: {"command":"get_current_work_frame"}


[20240702 00:50:19]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240702 00:50:19]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240702 00:50:19]: [get_current_work_frame] Work frame Name: World

[20240702 00:50:19]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240702 00:50:19]: send is: {"command":"get_current_tool_frame"}


[20240702 00:50:19]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240702 00:50:19]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240702 00:50:19]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240702 00:50:19]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240702 00:50:19]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240702 00:50:19]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240702 00:50:19]: send is: {"command":"get_install_pose"}


[20240702 00:50:19]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240702 00:50:19]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240702 00:50:19]: [rm_get_install_pose] pose parse result:

[20240702 00:50:19]:  0

[20240702 00:50:19]:  0

[20240702 00:50:19]:  0

[20240702 00:50:19]: send is: {"command":"get_joint_min_pos"}


[20240702 00:50:19]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240702 00:50:19]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240702 00:50:19]: [rm_get_joint_min_pos] min_pos parse result:

[20240702 00:50:19]:  -178000

[20240702 00:50:19]:  -130000

[20240702 00:50:19]:  -178000

[20240702 00:50:19]:  -135000

[20240702 00:50:19]:  -178000

[20240702 00:50:19]:  -128000

[20240702 00:50:19]:  -360000

[20240702 00:50:19]: send is: {"command":"get_joint_max_pos"}


[20240702 00:50:19]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240702 00:50:19]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240702 00:50:19]: [rm_get_joint_max_pos] max_pos parse result:

[20240702 00:50:19]:  178000

[20240702 00:50:19]:  130000

[20240702 00:50:19]:  178000

[20240702 00:50:19]:  135000

[20240702 00:50:19]:  178000

[20240702 00:50:19]:  128000

[20240702 00:50:19]:  360000

[20240702 00:50:19]: send is: {"command":"get_joint_max_acc"}


[20240702 00:50:19]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240702 00:50:19]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240702 00:50:19]: [rm_get_joint_max_acc] joint_acc parse result:

[20240702 00:50:19]:  100000

[20240702 00:50:19]:  100000

[20240702 00:50:19]:  100000

[20240702 00:50:19]:  100000

[20240702 00:50:19]:  100000

[20240702 00:50:19]:  100000

[20240702 00:50:19]:  100000

[20240702 00:50:19]: send is: {"command":"get_joint_max_speed"}


[20240702 00:50:19]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240702 00:50:19]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240702 00:50:19]: [rm_get_joint_max_speed] joint_speed parse result:

[20240702 00:50:19]:  30000

[20240702 00:50:19]:  30000

[20240702 00:50:19]:  37500

[20240702 00:50:19]:  37500

[20240702 00:50:19]:  37500

[20240702 00:50:19]:  37500

[20240702 00:50:19]:  37500

[20240702 00:50:19]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:50:19]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240702 00:50:19]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240702 00:50:19]: [rm_movej_p] receive_state: true

[20240702 00:50:22]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240702 00:50:22]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 00:50:22]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 00:50:22]: [rm_set_force_position] set_state: true

[20240702 00:50:22]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:50:22]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:50:22]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:50:22]: [rm_movel] receive_state: true

[20240702 00:50:23]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240702 00:50:23]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240702 00:50:23]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240702 00:50:23]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:50:23]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:50:23]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:50:23]: [rm_movel] receive_state: true

[20240702 00:50:23]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:50:23]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:50:23]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 00:50:23]: send is: {"command":"stop_force_position"}


[20240702 00:50:23]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 00:50:23]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 00:50:23]: [rm_stop_force_position] stop_state: true

[20240702 00:50:23]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240702 00:50:23]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 00:50:23]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 00:50:23]: [rm_set_force_position] set_state: true

[20240702 00:50:23]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:50:23]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:50:23]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:50:23]: [rm_movel] receive_state: true

[20240702 00:50:23]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:50:23]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:50:23]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 00:50:23]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:50:23]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:50:23]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:50:23]: [rm_movel] receive_state: true

[20240702 00:50:23]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:50:23]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:50:23]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 00:50:23]: send is: {"command":"stop_force_position"}


[20240702 00:50:23]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 00:50:23]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 00:50:23]: [rm_stop_force_position] stop_state: true

[20240702 00:50:23]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240702 00:50:23]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 00:50:23]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 00:50:23]: [rm_set_force_position] set_state: true

[20240702 00:50:23]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:50:23]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:50:23]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:50:23]: [rm_movel] receive_state: true

[20240702 00:50:23]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:50:23]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:50:23]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 00:50:23]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:50:23]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:50:23]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:50:23]: [rm_movel] receive_state: true

[20240702 00:50:23]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:50:23]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:50:23]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 00:50:23]: send is: {"command":"stop_force_position"}


[20240702 00:50:23]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 00:50:23]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 00:50:23]: [rm_stop_force_position] stop_state: true

[20240702 00:52:22] Begin API Testing.
[20240702 00:52:22]: send is: {"command":"get_arm_software_info"}


[20240702 00:52:22]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240702 00:52:22]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240702 00:52:22]: [rm_get_arm_software_info] Product version: RM75-6FI

[20240702 00:52:22]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240702 00:52:22]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240702 00:52:22]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240702 00:52:22]: [rm_get_arm_software_info] Dynamic model version: 2

[20240702 00:52:22]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240702 00:52:22]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240702 00:52:22]: send is: {"command":"get_realtime_push"}


[20240702 00:52:22]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240702 00:52:22]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240702 00:52:22]: [rm_get_realtime_push] cycle parse result: 1

[20240702 00:52:22]: [rm_get_realtime_push] port parse result: 8098

[20240702 00:52:22]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240702 00:52:22]: [rm_get_realtime_push] enable parse result: 1

[20240702 00:52:22]: [rm_get_realtime_push] force_coordinate parse result: 0

[20240702 00:52:22]: send is: {"command":"get_current_work_frame"}


[20240702 00:52:22]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240702 00:52:22]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240702 00:52:22]: [get_current_work_frame] Work frame Name: World

[20240702 00:52:22]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240702 00:52:22]: send is: {"command":"get_current_tool_frame"}


[20240702 00:52:22]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240702 00:52:22]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240702 00:52:22]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240702 00:52:22]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240702 00:52:22]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240702 00:52:22]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240702 00:52:22]: send is: {"command":"get_install_pose"}


[20240702 00:52:22]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240702 00:52:22]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240702 00:52:22]: [rm_get_install_pose] pose parse result:

[20240702 00:52:22]:  0

[20240702 00:52:22]:  0

[20240702 00:52:22]:  0

[20240702 00:52:22]: send is: {"command":"get_joint_min_pos"}


[20240702 00:52:22]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240702 00:52:22]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240702 00:52:22]: [rm_get_joint_min_pos] min_pos parse result:

[20240702 00:52:22]:  -178000

[20240702 00:52:22]:  -130000

[20240702 00:52:22]:  -178000

[20240702 00:52:22]:  -135000

[20240702 00:52:22]:  -178000

[20240702 00:52:22]:  -128000

[20240702 00:52:22]:  -360000

[20240702 00:52:22]: send is: {"command":"get_joint_max_pos"}


[20240702 00:52:22]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240702 00:52:22]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240702 00:52:22]: [rm_get_joint_max_pos] max_pos parse result:

[20240702 00:52:22]:  178000

[20240702 00:52:22]:  130000

[20240702 00:52:22]:  178000

[20240702 00:52:22]:  135000

[20240702 00:52:22]:  178000

[20240702 00:52:22]:  128000

[20240702 00:52:22]:  360000

[20240702 00:52:22]: send is: {"command":"get_joint_max_acc"}


[20240702 00:52:22]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240702 00:52:22]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240702 00:52:22]: [rm_get_joint_max_acc] joint_acc parse result:

[20240702 00:52:22]:  100000

[20240702 00:52:22]:  100000

[20240702 00:52:22]:  100000

[20240702 00:52:22]:  100000

[20240702 00:52:22]:  100000

[20240702 00:52:22]:  100000

[20240702 00:52:22]:  100000

[20240702 00:52:22]: send is: {"command":"get_joint_max_speed"}


[20240702 00:52:22]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240702 00:52:22]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240702 00:52:22]: [rm_get_joint_max_speed] joint_speed parse result:

[20240702 00:52:22]:  30000

[20240702 00:52:22]:  30000

[20240702 00:52:22]:  37500

[20240702 00:52:22]:  37500

[20240702 00:52:22]:  37500

[20240702 00:52:22]:  37500

[20240702 00:52:22]:  37500

[20240702 00:52:22]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:52:22]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240702 00:52:22]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240702 00:52:22]: [rm_movej_p] receive_state: true

[20240702 00:52:22]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240702 00:52:22]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240702 00:52:22]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240702 00:52:24]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240702 00:52:24]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 00:52:24]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 00:52:24]: [rm_set_force_position] set_state: true

[20240702 00:52:24]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:52:24]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:52:24]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:52:24]: [rm_movel] receive_state: true

[20240702 00:52:24]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:52:24]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:52:24]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 00:52:24]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:52:24]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:52:24]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:52:24]: [rm_movel] receive_state: true

[20240702 00:52:24]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:52:24]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:52:24]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 00:52:24]: send is: {"command":"stop_force_position"}


[20240702 00:52:25]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 00:52:25]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 00:52:25]: [rm_stop_force_position] stop_state: true

[20240702 00:52:25]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240702 00:52:25]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 00:52:25]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 00:52:25]: [rm_set_force_position] set_state: true

[20240702 00:52:25]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:52:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:52:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:52:25]: [rm_movel] receive_state: true

[20240702 00:52:25]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:52:25]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:52:25]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 00:52:25]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:52:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:52:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:52:25]: [rm_movel] receive_state: true

[20240702 00:52:25]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:52:25]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:52:25]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 00:52:25]: send is: {"command":"stop_force_position"}


[20240702 00:52:25]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 00:52:25]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 00:52:25]: [rm_stop_force_position] stop_state: true

[20240702 00:52:25]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240702 00:52:25]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 00:52:25]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 00:52:25]: [rm_set_force_position] set_state: true

[20240702 00:52:25]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:52:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:52:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:52:25]: [rm_movel] receive_state: true

[20240702 00:52:25]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:52:25]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:52:25]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 00:52:25]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:52:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:52:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:52:25]: [rm_movel] receive_state: true

[20240702 00:52:25]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:52:25]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:52:25]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 00:52:25]: send is: {"command":"stop_force_position"}


[20240702 00:52:25]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 00:52:25]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 00:52:25]: [rm_stop_force_position] stop_state: true

[20240702 00:57:48] Begin API Testing.
[20240702 00:57:48]: send is: {"command":"get_arm_software_info"}


[20240702 00:57:48]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240702 00:57:48]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240702 00:57:48]: [rm_get_arm_software_info] Product version: RM75-6FI

[20240702 00:57:48]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240702 00:57:48]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240702 00:57:48]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240702 00:57:48]: [rm_get_arm_software_info] Dynamic model version: 2

[20240702 00:57:48]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240702 00:57:48]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240702 00:57:48]: send is: {"command":"get_realtime_push"}


[20240702 00:57:48]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240702 00:57:48]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240702 00:57:48]: [rm_get_realtime_push] cycle parse result: 1

[20240702 00:57:48]: [rm_get_realtime_push] port parse result: 8098

[20240702 00:57:48]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240702 00:57:48]: [rm_get_realtime_push] enable parse result: 1

[20240702 00:57:48]: [rm_get_realtime_push] force_coordinate parse result: 0

[20240702 00:57:48]: send is: {"command":"get_current_work_frame"}


[20240702 00:57:48]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240702 00:57:48]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240702 00:57:48]: [get_current_work_frame] Work frame Name: World

[20240702 00:57:48]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240702 00:57:48]: send is: {"command":"get_current_tool_frame"}


[20240702 00:57:48]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240702 00:57:48]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240702 00:57:48]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240702 00:57:48]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240702 00:57:48]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240702 00:57:48]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240702 00:57:48]: send is: {"command":"get_install_pose"}


[20240702 00:57:49]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240702 00:57:49]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240702 00:57:49]: [rm_get_install_pose] pose parse result:

[20240702 00:57:49]:  0

[20240702 00:57:49]:  0

[20240702 00:57:49]:  0

[20240702 00:57:49]: send is: {"command":"get_joint_min_pos"}


[20240702 00:57:49]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240702 00:57:49]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240702 00:57:49]: [rm_get_joint_min_pos] min_pos parse result:

[20240702 00:57:49]:  -178000

[20240702 00:57:49]:  -130000

[20240702 00:57:49]:  -178000

[20240702 00:57:49]:  -135000

[20240702 00:57:49]:  -178000

[20240702 00:57:49]:  -128000

[20240702 00:57:49]:  -360000

[20240702 00:57:49]: send is: {"command":"get_joint_max_pos"}


[20240702 00:57:49]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240702 00:57:49]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240702 00:57:49]: [rm_get_joint_max_pos] max_pos parse result:

[20240702 00:57:49]:  178000

[20240702 00:57:49]:  130000

[20240702 00:57:49]:  178000

[20240702 00:57:49]:  135000

[20240702 00:57:49]:  178000

[20240702 00:57:49]:  128000

[20240702 00:57:49]:  360000

[20240702 00:57:49]: send is: {"command":"get_joint_max_acc"}


[20240702 00:57:49]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240702 00:57:49]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240702 00:57:49]: [rm_get_joint_max_acc] joint_acc parse result:

[20240702 00:57:49]:  100000

[20240702 00:57:49]:  100000

[20240702 00:57:49]:  100000

[20240702 00:57:49]:  100000

[20240702 00:57:49]:  100000

[20240702 00:57:49]:  100000

[20240702 00:57:49]:  100000

[20240702 00:57:49]: send is: {"command":"get_joint_max_speed"}


[20240702 00:57:49]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240702 00:57:49]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240702 00:57:49]: [rm_get_joint_max_speed] joint_speed parse result:

[20240702 00:57:49]:  30000

[20240702 00:57:49]:  30000

[20240702 00:57:49]:  37500

[20240702 00:57:49]:  37500

[20240702 00:57:49]:  37500

[20240702 00:57:49]:  37500

[20240702 00:57:49]:  37500

[20240702 00:57:49]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:57:49]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240702 00:57:49]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240702 00:57:49]: [rm_movej_p] receive_state: true

[20240702 00:57:49]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240702 00:57:49]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240702 00:57:49]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240702 00:57:51]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240702 00:57:51]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 00:57:51]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 00:57:51]: [rm_set_force_position] set_state: true

[20240702 00:57:51]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:57:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:57:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:57:51]: [rm_movel] receive_state: true

[20240702 00:57:51]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:57:51]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:57:51]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 00:57:51]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:57:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:57:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:57:51]: [rm_movel] receive_state: true

[20240702 00:57:51]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:57:51]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:57:51]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 00:57:51]: send is: {"command":"stop_force_position"}


[20240702 00:57:51]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 00:57:51]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 00:57:51]: [rm_stop_force_position] stop_state: true

[20240702 00:57:51]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240702 00:57:51]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 00:57:51]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 00:57:51]: [rm_set_force_position] set_state: true

[20240702 00:57:51]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:57:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:57:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:57:51]: [rm_movel] receive_state: true

[20240702 00:57:51]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:57:51]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:57:51]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 00:57:51]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:57:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:57:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:57:51]: [rm_movel] receive_state: true

[20240702 00:57:51]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:57:51]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:57:51]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 00:57:51]: send is: {"command":"stop_force_position"}


[20240702 00:57:51]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 00:57:51]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 00:57:51]: [rm_stop_force_position] stop_state: true

[20240702 00:57:51]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240702 00:57:51]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 00:57:51]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 00:57:51]: [rm_set_force_position] set_state: true

[20240702 00:57:51]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:57:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:57:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:57:51]: [rm_movel] receive_state: true

[20240702 00:57:51]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:57:51]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:57:51]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 00:57:51]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:57:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:57:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:57:51]: [rm_movel] receive_state: true

[20240702 00:57:51]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:57:51]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:57:51]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 00:57:51]: send is: {"command":"stop_force_position"}


[20240702 00:57:51]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 00:57:51]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 00:57:51]: [rm_stop_force_position] stop_state: true

[20240702 00:57:58] Begin API Testing.
[20240702 00:57:58]: send is: {"command":"get_arm_software_info"}


[20240702 00:57:58]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240702 00:57:58]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240702 00:57:58]: [rm_get_arm_software_info] Product version: RM75-6FI

[20240702 00:57:58]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240702 00:57:58]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240702 00:57:58]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240702 00:57:58]: [rm_get_arm_software_info] Dynamic model version: 2

[20240702 00:57:58]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240702 00:57:58]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240702 00:57:58]: send is: {"command":"get_realtime_push"}


[20240702 00:57:58]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240702 00:57:58]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240702 00:57:58]: [rm_get_realtime_push] cycle parse result: 1

[20240702 00:57:58]: [rm_get_realtime_push] port parse result: 8098

[20240702 00:57:58]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240702 00:57:58]: [rm_get_realtime_push] enable parse result: 1

[20240702 00:57:58]: [rm_get_realtime_push] force_coordinate parse result: 0

[20240702 00:57:58]: send is: {"command":"get_current_work_frame"}


[20240702 00:57:58]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240702 00:57:58]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240702 00:57:58]: [get_current_work_frame] Work frame Name: World

[20240702 00:57:58]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240702 00:57:58]: send is: {"command":"get_current_tool_frame"}


[20240702 00:57:58]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240702 00:57:58]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240702 00:57:58]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240702 00:57:58]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240702 00:57:58]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240702 00:57:58]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240702 00:57:58]: send is: {"command":"get_install_pose"}


[20240702 00:57:58]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240702 00:57:58]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240702 00:57:58]: [rm_get_install_pose] pose parse result:

[20240702 00:57:58]:  0

[20240702 00:57:58]:  0

[20240702 00:57:58]:  0

[20240702 00:57:58]: send is: {"command":"get_joint_min_pos"}


[20240702 00:57:58]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240702 00:57:58]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240702 00:57:58]: [rm_get_joint_min_pos] min_pos parse result:

[20240702 00:57:58]:  -178000

[20240702 00:57:58]:  -130000

[20240702 00:57:58]:  -178000

[20240702 00:57:58]:  -135000

[20240702 00:57:58]:  -178000

[20240702 00:57:58]:  -128000

[20240702 00:57:58]:  -360000

[20240702 00:57:58]: send is: {"command":"get_joint_max_pos"}


[20240702 00:57:58]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240702 00:57:58]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240702 00:57:58]: [rm_get_joint_max_pos] max_pos parse result:

[20240702 00:57:58]:  178000

[20240702 00:57:58]:  130000

[20240702 00:57:58]:  178000

[20240702 00:57:58]:  135000

[20240702 00:57:58]:  178000

[20240702 00:57:58]:  128000

[20240702 00:57:58]:  360000

[20240702 00:57:58]: send is: {"command":"get_joint_max_acc"}


[20240702 00:57:58]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240702 00:57:58]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240702 00:57:58]: [rm_get_joint_max_acc] joint_acc parse result:

[20240702 00:57:58]:  100000

[20240702 00:57:58]:  100000

[20240702 00:57:58]:  100000

[20240702 00:57:58]:  100000

[20240702 00:57:58]:  100000

[20240702 00:57:58]:  100000

[20240702 00:57:58]:  100000

[20240702 00:57:58]: send is: {"command":"get_joint_max_speed"}


[20240702 00:57:58]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240702 00:57:58]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240702 00:57:58]: [rm_get_joint_max_speed] joint_speed parse result:

[20240702 00:57:58]:  30000

[20240702 00:57:58]:  30000

[20240702 00:57:58]:  37500

[20240702 00:57:58]:  37500

[20240702 00:57:58]:  37500

[20240702 00:57:58]:  37500

[20240702 00:57:58]:  37500

[20240702 00:57:58]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:57:58]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240702 00:57:58]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240702 00:57:58]: [rm_movej_p] receive_state: true

[20240702 00:58:01]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240702 00:58:01]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 00:58:01]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 00:58:01]: [rm_set_force_position] set_state: true

[20240702 00:58:01]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:58:01]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:58:01]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:58:01]: [rm_movel] receive_state: true

[20240702 00:58:03]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:58:03]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:58:03]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:58:03]: [rm_movel] receive_state: true

[20240702 00:58:04]: send is: {"command":"stop_force_position"}


[20240702 00:58:04]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 00:58:04]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 00:58:04]: [rm_stop_force_position] stop_state: true

[20240702 00:58:04]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240702 00:58:04]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 00:58:04]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 00:58:04]: [rm_set_force_position] set_state: true

[20240702 00:58:04]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:58:04]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:58:04]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:58:04]: [rm_movel] receive_state: true

[20240702 00:58:05]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240702 00:58:05]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240702 00:58:05]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240702 00:58:05]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:58:05]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:58:05]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:58:05]: [rm_movel] receive_state: true

[20240702 00:58:05]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:58:05]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:58:05]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 00:58:05]: send is: {"command":"stop_force_position"}


[20240702 00:58:05]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 00:58:05]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 00:58:05]: [rm_stop_force_position] stop_state: true

[20240702 00:58:05]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240702 00:58:05]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 00:58:05]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 00:58:05]: [rm_set_force_position] set_state: true

[20240702 00:58:05]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:58:05]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:58:05]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:58:05]: [rm_movel] receive_state: true

[20240702 00:58:05]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:58:05]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:58:05]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 00:58:05]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 00:58:05]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:58:05]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 00:58:05]: [rm_movel] receive_state: true

[20240702 00:58:05]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:58:05]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 00:58:05]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 00:58:05]: send is: {"command":"stop_force_position"}


[20240702 00:58:05]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 00:58:05]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 00:58:05]: [rm_stop_force_position] stop_state: true

[20240702 17:37:31] Begin API Testing.
[20240702 17:37:31]: send is: {"command":"get_arm_software_info"}


[20240702 17:37:31]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240702 17:37:31]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240702 17:37:31]: [rm_get_arm_software_info] Product version: RM75-6FI

[20240702 17:37:31]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240702 17:37:31]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240702 17:37:31]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240702 17:37:31]: [rm_get_arm_software_info] Dynamic model version: 2

[20240702 17:37:31]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240702 17:37:31]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240702 17:37:31]: send is: {"command":"get_realtime_push"}


[20240702 17:37:31]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240702 17:37:31]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240702 17:37:31]: [rm_get_realtime_push] cycle parse result: 1

[20240702 17:37:31]: [rm_get_realtime_push] port parse result: 8098

[20240702 17:37:31]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240702 17:37:31]: [rm_get_realtime_push] enable parse result: 1

[20240702 17:37:31]: [rm_get_realtime_push] force_coordinate parse result: 0

[20240702 17:37:31]: send is: {"command":"get_current_work_frame"}


[20240702 17:37:31]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240702 17:37:31]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240702 17:37:31]: [get_current_work_frame] Work frame Name: World

[20240702 17:37:31]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240702 17:37:31]: send is: {"command":"get_current_tool_frame"}


[20240702 17:37:31]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240702 17:37:31]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240702 17:37:31]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240702 17:37:31]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240702 17:37:31]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240702 17:37:31]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240702 17:37:31]: send is: {"command":"get_install_pose"}


[20240702 17:37:31]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240702 17:37:31]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240702 17:37:31]: [rm_get_install_pose] pose parse result:

[20240702 17:37:31]:  0

[20240702 17:37:31]:  0

[20240702 17:37:31]:  0

[20240702 17:37:31]: send is: {"command":"get_joint_min_pos"}


[20240702 17:37:31]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240702 17:37:31]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240702 17:37:31]: [rm_get_joint_min_pos] min_pos parse result:

[20240702 17:37:31]:  -178000

[20240702 17:37:31]:  -130000

[20240702 17:37:31]:  -178000

[20240702 17:37:31]:  -135000

[20240702 17:37:31]:  -178000

[20240702 17:37:31]:  -128000

[20240702 17:37:31]:  -360000

[20240702 17:37:31]: send is: {"command":"get_joint_max_pos"}


[20240702 17:37:31]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240702 17:37:31]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240702 17:37:31]: [rm_get_joint_max_pos] max_pos parse result:

[20240702 17:37:31]:  178000

[20240702 17:37:31]:  130000

[20240702 17:37:31]:  178000

[20240702 17:37:31]:  135000

[20240702 17:37:31]:  178000

[20240702 17:37:31]:  128000

[20240702 17:37:31]:  360000

[20240702 17:37:31]: send is: {"command":"get_joint_max_acc"}


[20240702 17:37:31]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240702 17:37:31]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240702 17:37:31]: [rm_get_joint_max_acc] joint_acc parse result:

[20240702 17:37:31]:  100000

[20240702 17:37:31]:  100000

[20240702 17:37:31]:  100000

[20240702 17:37:31]:  100000

[20240702 17:37:31]:  100000

[20240702 17:37:31]:  100000

[20240702 17:37:31]:  100000

[20240702 17:37:31]: send is: {"command":"get_joint_max_speed"}


[20240702 17:37:31]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240702 17:37:31]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240702 17:37:31]: [rm_get_joint_max_speed] joint_speed parse result:

[20240702 17:37:31]:  30000

[20240702 17:37:31]:  30000

[20240702 17:37:31]:  37500

[20240702 17:37:31]:  37500

[20240702 17:37:31]:  37500

[20240702 17:37:31]:  37500

[20240702 17:37:31]:  37500

[20240702 17:37:31]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:37:31]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240702 17:37:31]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240702 17:37:31]: [rm_movej_p] receive_state: true

[20240702 17:37:35]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240702 17:37:35]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 17:37:35]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 17:37:35]: [rm_set_force_position] set_state: true

[20240702 17:37:35]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:37:35]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:37:35]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:37:35]: [rm_movel] receive_state: true

[20240702 17:37:35]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240702 17:37:35]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240702 17:37:35]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240702 17:37:35]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:37:35]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:37:35]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:37:35]: [rm_movel] receive_state: true

[20240702 17:37:35]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:37:35]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:37:35]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 17:37:35]: send is: {"command":"stop_force_position"}


[20240702 17:37:35]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 17:37:35]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 17:37:35]: [rm_stop_force_position] stop_state: true

[20240702 17:37:35]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240702 17:37:35]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 17:37:35]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 17:37:35]: [rm_set_force_position] set_state: true

[20240702 17:37:35]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:37:35]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:37:35]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:37:35]: [rm_movel] receive_state: true

[20240702 17:37:35]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:37:35]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:37:35]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 17:37:35]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:37:35]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:37:35]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:37:35]: [rm_movel] receive_state: true

[20240702 17:37:35]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:37:35]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:37:35]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 17:37:35]: send is: {"command":"stop_force_position"}


[20240702 17:37:35]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 17:37:35]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 17:37:35]: [rm_stop_force_position] stop_state: true

[20240702 17:37:35]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240702 17:37:35]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 17:37:35]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 17:37:35]: [rm_set_force_position] set_state: true

[20240702 17:37:35]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:37:35]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:37:35]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:37:35]: [rm_movel] receive_state: true

[20240702 17:37:35]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:37:35]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:37:35]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 17:37:35]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:37:35]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:37:35]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:37:35]: [rm_movel] receive_state: true

[20240702 17:37:36]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:37:36]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:37:36]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 17:37:36]: send is: {"command":"stop_force_position"}


[20240702 17:37:36]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 17:37:36]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 17:37:36]: [rm_stop_force_position] stop_state: true

[20240702 17:41:17] Begin API Testing.
[20240702 17:42:11]: send is: {"command":"get_arm_software_info"}


[20240702 17:42:13]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240702 17:42:16]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240702 17:42:18]: [rm_get_arm_software_info] Product version: RM75-6FI

[20240702 17:42:42]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240702 17:42:52]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240702 17:42:52]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240702 17:42:52]: [rm_get_arm_software_info] Dynamic model version: 2

[20240702 17:42:52]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240702 17:42:52]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240702 17:42:52]: send is: {"command":"get_realtime_push"}


[20240702 17:42:52]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240702 17:42:52]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240702 17:42:52]: [rm_get_realtime_push] cycle parse result: 1

[20240702 17:42:52]: [rm_get_realtime_push] port parse result: 8098

[20240702 17:42:52]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240702 17:42:52]: [rm_get_realtime_push] enable parse result: 1

[20240702 17:42:52]: [rm_get_realtime_push] force_coordinate parse result: 0

[20240702 17:42:52]: send is: {"command":"get_current_work_frame"}


[20240702 17:42:52]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240702 17:42:52]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240702 17:42:52]: [get_current_work_frame] Work frame Name: World

[20240702 17:42:52]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240702 17:42:52]: send is: {"command":"get_current_tool_frame"}


[20240702 17:42:52]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240702 17:42:52]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240702 17:42:52]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240702 17:42:52]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240702 17:42:52]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240702 17:42:52]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240702 17:42:52]: send is: {"command":"get_install_pose"}


[20240702 17:42:52]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240702 17:42:52]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240702 17:42:52]: [rm_get_install_pose] pose parse result:

[20240702 17:42:52]:  0

[20240702 17:42:52]:  0

[20240702 17:42:52]:  0

[20240702 17:42:52]: send is: {"command":"get_joint_min_pos"}


[20240702 17:42:52]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240702 17:42:52]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240702 17:42:52]: [rm_get_joint_min_pos] min_pos parse result:

[20240702 17:42:52]:  -178000

[20240702 17:42:52]:  -130000

[20240702 17:42:52]:  -178000

[20240702 17:42:52]:  -135000

[20240702 17:42:52]:  -178000

[20240702 17:42:52]:  -128000

[20240702 17:42:52]:  -360000

[20240702 17:42:52]: send is: {"command":"get_joint_max_pos"}


[20240702 17:42:52]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240702 17:42:52]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240702 17:42:52]: [rm_get_joint_max_pos] max_pos parse result:

[20240702 17:42:52]:  178000

[20240702 17:42:52]:  130000

[20240702 17:42:52]:  178000

[20240702 17:42:52]:  135000

[20240702 17:42:52]:  178000

[20240702 17:42:52]:  128000

[20240702 17:42:52]:  360000

[20240702 17:42:52]: send is: {"command":"get_joint_max_acc"}


[20240702 17:42:52]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240702 17:42:52]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240702 17:42:52]: [rm_get_joint_max_acc] joint_acc parse result:

[20240702 17:42:52]:  100000

[20240702 17:42:52]:  100000

[20240702 17:42:52]:  100000

[20240702 17:42:52]:  100000

[20240702 17:42:52]:  100000

[20240702 17:42:52]:  100000

[20240702 17:42:52]:  100000

[20240702 17:42:52]: send is: {"command":"get_joint_max_speed"}


[20240702 17:42:52]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240702 17:42:52]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240702 17:42:52]: [rm_get_joint_max_speed] joint_speed parse result:

[20240702 17:42:52]:  30000

[20240702 17:42:52]:  30000

[20240702 17:42:52]:  37500

[20240702 17:42:52]:  37500

[20240702 17:42:52]:  37500

[20240702 17:42:52]:  37500

[20240702 17:42:52]:  37500

[20240702 17:42:53]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:42:53]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240702 17:42:53]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240702 17:42:53]: [rm_movej_p] receive_state: true

[20240702 17:42:53]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240702 17:42:53]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240702 17:42:53]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240702 17:42:55]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240702 17:42:55]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 17:42:55]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 17:42:55]: [rm_set_force_position] set_state: true

[20240702 17:42:55]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:42:55]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:42:55]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:42:55]: [rm_movel] receive_state: true

[20240702 17:42:56]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:42:56]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:42:56]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 17:42:56]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:42:56]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:42:56]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:42:56]: [rm_movel] receive_state: true

[20240702 17:42:56]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:42:56]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:42:56]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 17:42:56]: send is: {"command":"stop_force_position"}


[20240702 17:42:56]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 17:42:56]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 17:42:56]: [rm_stop_force_position] stop_state: true

[20240702 17:42:56]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240702 17:42:56]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 17:42:56]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 17:42:56]: [rm_set_force_position] set_state: true

[20240702 17:42:56]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:42:56]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:42:56]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:42:56]: [rm_movel] receive_state: true

[20240702 17:42:56]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:42:56]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:42:56]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 17:42:56]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:42:56]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:42:56]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:42:56]: [rm_movel] receive_state: true

[20240702 17:42:56]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:42:56]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:42:56]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 17:42:56]: send is: {"command":"stop_force_position"}


[20240702 17:42:56]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 17:42:56]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 17:42:56]: [rm_stop_force_position] stop_state: true

[20240702 17:42:56]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240702 17:42:56]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 17:42:56]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 17:42:56]: [rm_set_force_position] set_state: true

[20240702 17:42:56]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:42:56]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:42:56]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:42:56]: [rm_movel] receive_state: true

[20240702 17:42:56]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:42:56]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:42:56]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 17:42:56]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:42:56]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:42:56]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:42:56]: [rm_movel] receive_state: true

[20240702 17:42:56]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:42:56]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:42:56]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 17:42:56]: send is: {"command":"stop_force_position"}


[20240702 17:42:56]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 17:42:56]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 17:42:56]: [rm_stop_force_position] stop_state: true

[20240702 17:45:04] Begin API Testing.
[20240702 17:45:04]: send is: {"command":"get_arm_software_info"}


[20240702 17:45:04]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240702 17:45:04]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240702 17:45:04]: [rm_get_arm_software_info] Product version: RM75-6FI

[20240702 17:45:04]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240702 17:45:04]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240702 17:45:04]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240702 17:45:04]: [rm_get_arm_software_info] Dynamic model version: 2

[20240702 17:45:04]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240702 17:45:04]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240702 17:45:04]: send is: {"command":"get_realtime_push"}


[20240702 17:45:04]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240702 17:45:04]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240702 17:45:04]: [rm_get_realtime_push] cycle parse result: 1

[20240702 17:45:04]: [rm_get_realtime_push] port parse result: 8098

[20240702 17:45:04]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240702 17:45:04]: [rm_get_realtime_push] enable parse result: 1

[20240702 17:45:04]: [rm_get_realtime_push] force_coordinate parse result: 0

[20240702 17:45:04]: send is: {"command":"get_current_work_frame"}


[20240702 17:45:04]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240702 17:45:04]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240702 17:45:04]: [get_current_work_frame] Work frame Name: World

[20240702 17:45:04]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240702 17:45:04]: send is: {"command":"get_current_tool_frame"}


[20240702 17:45:04]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240702 17:45:04]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240702 17:45:04]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240702 17:45:04]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240702 17:45:04]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240702 17:45:04]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240702 17:45:04]: send is: {"command":"get_install_pose"}


[20240702 17:45:04]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240702 17:45:04]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240702 17:45:04]: [rm_get_install_pose] pose parse result:

[20240702 17:45:04]:  0

[20240702 17:45:04]:  0

[20240702 17:45:04]:  0

[20240702 17:45:04]: send is: {"command":"get_joint_min_pos"}


[20240702 17:45:04]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240702 17:45:04]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240702 17:45:04]: [rm_get_joint_min_pos] min_pos parse result:

[20240702 17:45:04]:  -178000

[20240702 17:45:04]:  -130000

[20240702 17:45:04]:  -178000

[20240702 17:45:04]:  -135000

[20240702 17:45:04]:  -178000

[20240702 17:45:04]:  -128000

[20240702 17:45:04]:  -360000

[20240702 17:45:04]: send is: {"command":"get_joint_max_pos"}


[20240702 17:45:04]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240702 17:45:04]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240702 17:45:04]: [rm_get_joint_max_pos] max_pos parse result:

[20240702 17:45:04]:  178000

[20240702 17:45:04]:  130000

[20240702 17:45:04]:  178000

[20240702 17:45:04]:  135000

[20240702 17:45:04]:  178000

[20240702 17:45:04]:  128000

[20240702 17:45:04]:  360000

[20240702 17:45:04]: send is: {"command":"get_joint_max_acc"}


[20240702 17:45:04]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240702 17:45:04]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240702 17:45:04]: [rm_get_joint_max_acc] joint_acc parse result:

[20240702 17:45:04]:  100000

[20240702 17:45:04]:  100000

[20240702 17:45:04]:  100000

[20240702 17:45:04]:  100000

[20240702 17:45:04]:  100000

[20240702 17:45:04]:  100000

[20240702 17:45:04]:  100000

[20240702 17:45:04]: send is: {"command":"get_joint_max_speed"}


[20240702 17:45:04]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240702 17:45:04]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240702 17:45:04]: [rm_get_joint_max_speed] joint_speed parse result:

[20240702 17:45:04]:  30000

[20240702 17:45:04]:  30000

[20240702 17:45:04]:  37500

[20240702 17:45:04]:  37500

[20240702 17:45:04]:  37500

[20240702 17:45:04]:  37500

[20240702 17:45:04]:  37500

[20240702 17:45:04]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:45:04]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240702 17:45:04]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240702 17:45:04]: [rm_movej_p] receive_state: true

[20240702 17:45:04]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240702 17:45:04]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240702 17:45:04]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240702 17:45:06]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240702 17:45:06]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 17:45:06]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 17:45:06]: [rm_set_force_position] set_state: true

[20240702 17:45:06]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:45:06]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:45:06]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:45:06]: [rm_movel] receive_state: true

[20240702 17:45:07]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:45:07]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:45:07]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 17:45:07]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:45:07]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:45:07]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:45:07]: [rm_movel] receive_state: true

[20240702 17:45:07]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:45:07]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:45:07]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 17:45:07]: send is: {"command":"stop_force_position"}


[20240702 17:45:07]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 17:45:07]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 17:45:07]: [rm_stop_force_position] stop_state: true

[20240702 17:45:07]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240702 17:45:07]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 17:45:07]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 17:45:07]: [rm_set_force_position] set_state: true

[20240702 17:45:07]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:45:07]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:45:07]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:45:07]: [rm_movel] receive_state: true

[20240702 17:45:07]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:45:07]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:45:07]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 17:45:07]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:45:07]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:45:07]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:45:07]: [rm_movel] receive_state: true

[20240702 17:45:07]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:45:07]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:45:07]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 17:45:07]: send is: {"command":"stop_force_position"}


[20240702 17:45:07]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 17:45:07]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 17:45:07]: [rm_stop_force_position] stop_state: true

[20240702 17:45:07]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240702 17:45:07]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 17:45:07]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 17:45:07]: [rm_set_force_position] set_state: true

[20240702 17:45:07]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:45:07]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:45:07]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:45:07]: [rm_movel] receive_state: true

[20240702 17:45:07]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:45:07]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:45:07]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 17:45:07]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:45:07]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:45:07]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:45:07]: [rm_movel] receive_state: true

[20240702 17:45:07]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:45:07]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:45:07]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 17:45:07]: send is: {"command":"stop_force_position"}


[20240702 17:45:07]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 17:45:07]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 17:45:07]: [rm_stop_force_position] stop_state: true

[20240702 17:45:19] Begin API Testing.
[20240702 17:45:19]: send is: {"command":"get_arm_software_info"}


[20240702 17:45:19]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240702 17:45:19]: thread_socket_receive len 316 robot_handle: 1 message:{"Product_version":"RM75-6FI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240702 17:45:19]: [rm_get_arm_software_info] Product version: RM75-6FI

[20240702 17:45:19]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240702 17:45:19]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240702 17:45:20]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240702 17:45:20]: [rm_get_arm_software_info] Dynamic model version: 2

[20240702 17:45:20]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240702 17:45:20]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240702 17:45:20]: send is: {"command":"get_realtime_push"}


[20240702 17:45:20]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240702 17:45:20]: thread_socket_receive len 110 robot_handle: 1 message:{"command":"get_realtime_push","cycle":1,"enable":true,"force_coordinate":0,"ip":"192.168.1.88","port":8098}


[20240702 17:45:20]: [rm_get_realtime_push] cycle parse result: 1

[20240702 17:45:20]: [rm_get_realtime_push] port parse result: 8098

[20240702 17:45:20]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240702 17:45:20]: [rm_get_realtime_push] enable parse result: 1

[20240702 17:45:20]: [rm_get_realtime_push] force_coordinate parse result: 0

[20240702 17:45:20]: send is: {"command":"get_current_work_frame"}


[20240702 17:45:20]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240702 17:45:20]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240702 17:45:20]: [get_current_work_frame] Work frame Name: World

[20240702 17:45:20]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240702 17:45:20]: send is: {"command":"get_current_tool_frame"}


[20240702 17:45:20]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240702 17:45:20]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240702 17:45:20]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240702 17:45:20]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240702 17:45:20]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240702 17:45:20]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240702 17:45:20]: send is: {"command":"get_install_pose"}


[20240702 17:45:20]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240702 17:45:20]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240702 17:45:20]: [rm_get_install_pose] pose parse result:

[20240702 17:45:20]:  0

[20240702 17:45:20]:  0

[20240702 17:45:20]:  0

[20240702 17:45:20]: send is: {"command":"get_joint_min_pos"}


[20240702 17:45:20]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240702 17:45:20]: thread_socket_receive len 95 robot_handle: 1 message:{"min_pos":[-178000,-130000,-178000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240702 17:45:20]: [rm_get_joint_min_pos] min_pos parse result:

[20240702 17:45:20]:  -178000

[20240702 17:45:20]:  -130000

[20240702 17:45:20]:  -178000

[20240702 17:45:20]:  -135000

[20240702 17:45:20]:  -178000

[20240702 17:45:20]:  -128000

[20240702 17:45:20]:  -360000

[20240702 17:45:20]: send is: {"command":"get_joint_max_pos"}


[20240702 17:45:20]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240702 17:45:20]: thread_socket_receive len 88 robot_handle: 1 message:{"max_pos":[178000,130000,178000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240702 17:45:20]: [rm_get_joint_max_pos] max_pos parse result:

[20240702 17:45:20]:  178000

[20240702 17:45:20]:  130000

[20240702 17:45:20]:  178000

[20240702 17:45:20]:  135000

[20240702 17:45:20]:  178000

[20240702 17:45:20]:  128000

[20240702 17:45:20]:  360000

[20240702 17:45:20]: send is: {"command":"get_joint_max_acc"}


[20240702 17:45:20]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240702 17:45:20]: thread_socket_receive len 90 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240702 17:45:20]: [rm_get_joint_max_acc] joint_acc parse result:

[20240702 17:45:20]:  100000

[20240702 17:45:20]:  100000

[20240702 17:45:20]:  100000

[20240702 17:45:20]:  100000

[20240702 17:45:20]:  100000

[20240702 17:45:20]:  100000

[20240702 17:45:20]:  100000

[20240702 17:45:20]: send is: {"command":"get_joint_max_speed"}


[20240702 17:45:20]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240702 17:45:20]: thread_socket_receive len 87 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240702 17:45:20]: [rm_get_joint_max_speed] joint_speed parse result:

[20240702 17:45:20]:  30000

[20240702 17:45:20]:  30000

[20240702 17:45:20]:  37500

[20240702 17:45:20]:  37500

[20240702 17:45:20]:  37500

[20240702 17:45:20]:  37500

[20240702 17:45:20]:  37500

[20240702 17:45:20]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:45:20]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240702 17:45:20]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240702 17:45:20]: [rm_movej_p] receive_state: true

[20240702 17:45:20]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240702 17:45:20]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240702 17:45:20]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240702 17:45:22]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240702 17:45:22]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 17:45:22]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 17:45:22]: [rm_set_force_position] set_state: true

[20240702 17:45:22]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:45:22]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:45:22]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:45:22]: [rm_movel] receive_state: true

[20240702 17:45:23]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:45:23]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:45:23]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:45:23]: [rm_movel] receive_state: true

[20240702 17:45:24]: send is: {"command":"stop_force_position"}


[20240702 17:45:24]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 17:45:24]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 17:45:24]: [rm_stop_force_position] stop_state: true

[20240702 17:45:24]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240702 17:45:24]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 17:45:24]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 17:45:24]: [rm_set_force_position] set_state: true

[20240702 17:45:24]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:45:24]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:45:24]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:45:24]: [rm_movel] receive_state: true

[20240702 17:45:24]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240702 17:45:24]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240702 17:45:24]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240702 17:45:24]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:45:24]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:45:24]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:45:24]: [rm_movel] receive_state: true

[20240702 17:45:25]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:45:25]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:45:25]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 17:45:25]: send is: {"command":"stop_force_position"}


[20240702 17:45:25]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 17:45:25]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 17:45:25]: [rm_stop_force_position] stop_state: true

[20240702 17:45:25]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240702 17:45:25]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 17:45:25]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240702 17:45:25]: [rm_set_force_position] set_state: true

[20240702 17:45:25]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:45:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:45:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:45:25]: [rm_movel] receive_state: true

[20240702 17:45:25]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:45:25]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:45:25]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 17:45:25]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240702 17:45:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:45:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240702 17:45:25]: [rm_movel] receive_state: true

[20240702 17:45:25]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:45:25]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240702 17:45:25]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240702 17:45:25]: send is: {"command":"stop_force_position"}


[20240702 17:45:25]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 17:45:25]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240702 17:45:25]: [rm_stop_force_position] stop_state: true

[20240707 06:10:32] Begin API Testing.
[20240707 06:10:32]: send is: {"command":"get_arm_software_info"}


[20240707 06:10:32]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:10:32]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:10:32]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 06:10:32]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 06:10:32]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 06:10:32]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 06:10:32]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 06:10:32]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 06:10:32]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 06:10:32]: send is: {"command":"get_realtime_push"}


[20240707 06:10:32]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:10:32]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:10:32]: [rm_get_realtime_push] cycle parse result: 5

[20240707 06:10:32]: [rm_get_realtime_push] port parse result: 8089

[20240707 06:10:32]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 06:10:32]: [rm_get_realtime_push] enable parse result: 1

[20240707 06:10:32]: send is: {"command":"get_current_work_frame"}


[20240707 06:10:32]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:10:32]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:10:32]: [get_current_work_frame] Work frame Name: World

[20240707 06:10:32]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:10:32]: send is: {"command":"get_current_tool_frame"}


[20240707 06:10:32]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:10:32]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:10:32]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 06:10:32]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:10:32]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 06:10:32]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 06:10:32]: send is: {"command":"get_install_pose"}


[20240707 06:10:32]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:10:32]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:10:32]: [rm_get_install_pose] pose parse result:

[20240707 06:10:32]:  0

[20240707 06:10:32]:  0

[20240707 06:10:32]:  0

[20240707 06:10:32]: send is: {"command":"get_joint_min_pos"}


[20240707 06:10:32]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:10:32]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:10:32]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 06:10:32]:  -178000

[20240707 06:10:32]:  -130000

[20240707 06:10:32]:  -135000

[20240707 06:10:32]:  -178000

[20240707 06:10:32]:  -128000

[20240707 06:10:32]:  -360000

[20240707 06:10:32]: send is: {"command":"get_joint_max_pos"}


[20240707 06:10:32]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:10:32]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:10:32]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 06:10:32]:  178000

[20240707 06:10:32]:  130000

[20240707 06:10:32]:  135000

[20240707 06:10:32]:  178000

[20240707 06:10:32]:  128000

[20240707 06:10:32]:  360000

[20240707 06:10:32]: send is: {"command":"get_joint_max_acc"}


[20240707 06:10:32]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:10:32]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:10:32]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 06:10:32]:  100000

[20240707 06:10:32]:  100000

[20240707 06:10:32]:  100000

[20240707 06:10:32]:  100000

[20240707 06:10:32]:  100000

[20240707 06:10:32]:  100000

[20240707 06:10:32]: send is: {"command":"get_joint_max_speed"}


[20240707 06:10:32]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:10:32]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:10:32]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 06:10:32]:  30000

[20240707 06:10:32]:  30000

[20240707 06:10:32]:  37500

[20240707 06:10:32]:  37500

[20240707 06:10:32]:  37500

[20240707 06:10:32]:  37500

[20240707 06:10:32]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:10:32]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:10:32]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:10:32]: [rm_movej_p] receive_state: true

[20240707 06:10:32]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:10:32]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:10:32]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:10:34]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:10:34]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:10:34]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:10:34]: [rm_set_force_position] set_state: true

[20240707 06:10:34]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:10:34]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:10:34]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:10:34]: [rm_movel] receive_state: true

[20240707 06:10:35]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:10:35]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:10:35]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:10:35]: [rm_movel] receive_state: true

[20240707 06:10:37]: send is: {"command":"stop_force_position"}


[20240707 06:10:37]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:10:37]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:10:37]: [rm_stop_force_position] stop_state: true

[20240707 06:10:37]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:10:37]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:10:37]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:10:37]: [rm_set_force_position] set_state: true

[20240707 06:10:37]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:10:37]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:10:37]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:10:37]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:10:37]: [rm_movel] receive_state: true

[20240707 06:10:37]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:10:37]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:10:37]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:10:37]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:10:37]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:10:37]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:10:37]: [rm_movel] receive_state: true

[20240707 06:10:37]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:10:37]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:10:37]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:10:37]: send is: {"command":"stop_force_position"}


[20240707 06:10:37]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:10:37]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:10:37]: [rm_stop_force_position] stop_state: true

[20240707 06:10:37]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:10:37]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:10:37]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:10:37]: [rm_set_force_position] set_state: true

[20240707 06:10:37]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:10:37]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:10:37]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:10:37]: [rm_movel] receive_state: true

[20240707 06:10:37]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:10:37]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:10:37]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:10:37]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:10:37]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:10:37]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:10:37]: [rm_movel] receive_state: true

[20240707 06:10:37]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:10:37]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:10:37]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:10:37]: send is: {"command":"stop_force_position"}


[20240707 06:10:37]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:10:37]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:10:37]: [rm_stop_force_position] stop_state: true

[20240707 06:11:59] Begin API Testing.
[20240707 06:11:59]: send is: {"command":"get_arm_software_info"}


[20240707 06:11:59]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:11:59]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:11:59]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 06:11:59]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 06:11:59]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 06:11:59]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 06:11:59]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 06:11:59]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 06:11:59]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 06:11:59]: send is: {"command":"get_realtime_push"}


[20240707 06:11:59]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:11:59]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:11:59]: [rm_get_realtime_push] cycle parse result: 5

[20240707 06:11:59]: [rm_get_realtime_push] port parse result: 8089

[20240707 06:11:59]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 06:11:59]: [rm_get_realtime_push] enable parse result: 1

[20240707 06:11:59]: send is: {"command":"get_current_work_frame"}


[20240707 06:11:59]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:11:59]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:11:59]: [get_current_work_frame] Work frame Name: World

[20240707 06:11:59]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:11:59]: send is: {"command":"get_current_tool_frame"}


[20240707 06:11:59]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:11:59]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:11:59]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 06:11:59]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:11:59]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 06:11:59]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 06:11:59]: send is: {"command":"get_install_pose"}


[20240707 06:11:59]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:11:59]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:11:59]: [rm_get_install_pose] pose parse result:

[20240707 06:11:59]:  0

[20240707 06:11:59]:  0

[20240707 06:11:59]:  0

[20240707 06:11:59]: send is: {"command":"get_joint_min_pos"}


[20240707 06:12:00]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:12:00]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:12:00]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 06:12:00]:  -178000

[20240707 06:12:00]:  -130000

[20240707 06:12:00]:  -135000

[20240707 06:12:00]:  -178000

[20240707 06:12:00]:  -128000

[20240707 06:12:00]:  -360000

[20240707 06:12:00]: send is: {"command":"get_joint_max_pos"}


[20240707 06:12:00]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:12:00]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:12:00]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 06:12:00]:  178000

[20240707 06:12:00]:  130000

[20240707 06:12:00]:  135000

[20240707 06:12:00]:  178000

[20240707 06:12:00]:  128000

[20240707 06:12:00]:  360000

[20240707 06:12:00]: send is: {"command":"get_joint_max_acc"}


[20240707 06:12:00]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:12:00]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:12:00]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 06:12:00]:  100000

[20240707 06:12:00]:  100000

[20240707 06:12:00]:  100000

[20240707 06:12:00]:  100000

[20240707 06:12:00]:  100000

[20240707 06:12:00]:  100000

[20240707 06:12:00]: send is: {"command":"get_joint_max_speed"}


[20240707 06:12:00]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:12:00]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:12:00]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 06:12:00]:  30000

[20240707 06:12:00]:  30000

[20240707 06:12:00]:  37500

[20240707 06:12:00]:  37500

[20240707 06:12:00]:  37500

[20240707 06:12:00]:  37500

[20240707 06:12:00]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:12:00]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:12:00]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:12:00]: [rm_movej_p] receive_state: true

[20240707 06:12:00]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:12:00]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:12:00]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:12:02]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:12:02]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:12:02]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:12:02]: [rm_set_force_position] set_state: true

[20240707 06:12:02]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:12:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:12:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:12:02]: [rm_movel] receive_state: true

[20240707 06:12:02]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:12:02]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:12:02]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:12:02]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:12:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:12:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:12:02]: [rm_movel] receive_state: true

[20240707 06:12:02]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:12:02]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:12:02]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:12:02]: send is: {"command":"stop_force_position"}


[20240707 06:12:02]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:12:02]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:12:02]: [rm_stop_force_position] stop_state: true

[20240707 06:12:02]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:12:02]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:12:02]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:12:02]: [rm_set_force_position] set_state: true

[20240707 06:12:02]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:12:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:12:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:12:02]: [rm_movel] receive_state: true

[20240707 06:12:02]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:12:02]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:12:02]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:12:02]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:12:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:12:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:12:02]: [rm_movel] receive_state: true

[20240707 06:12:02]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:12:02]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:12:02]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:12:02]: send is: {"command":"stop_force_position"}


[20240707 06:12:02]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:12:02]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:12:02]: [rm_stop_force_position] stop_state: true

[20240707 06:12:02]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:12:02]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:12:02]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:12:02]: [rm_set_force_position] set_state: true

[20240707 06:12:02]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:12:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:12:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:12:02]: [rm_movel] receive_state: true

[20240707 06:12:02]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:12:02]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:12:02]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:12:02]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:12:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:12:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:12:02]: [rm_movel] receive_state: true

[20240707 06:12:02]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:12:02]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:12:02]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:12:02]: send is: {"command":"stop_force_position"}


[20240707 06:12:02]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:12:02]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:12:02]: [rm_stop_force_position] stop_state: true

[20240707 06:16:15] Begin API Testing.
[20240707 06:16:20]: send is: {"command":"get_arm_software_info"}


[20240707 06:16:20]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:16:20]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:16:20]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 06:16:20]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 06:16:20]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 06:16:20]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 06:16:20]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 06:16:20]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 06:16:20]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 06:16:20]: send is: {"command":"get_realtime_push"}


[20240707 06:16:20]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:16:20]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:16:20]: [rm_get_realtime_push] cycle parse result: 5

[20240707 06:16:20]: [rm_get_realtime_push] port parse result: 8089

[20240707 06:16:20]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 06:16:20]: [rm_get_realtime_push] enable parse result: 1

[20240707 06:16:20]: send is: {"command":"get_current_work_frame"}


[20240707 06:16:20]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:16:20]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:16:20]: [get_current_work_frame] Work frame Name: World

[20240707 06:16:20]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:16:20]: send is: {"command":"get_current_tool_frame"}


[20240707 06:16:20]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:16:20]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:16:20]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 06:16:20]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:16:20]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 06:16:20]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 06:16:20]: send is: {"command":"get_install_pose"}


[20240707 06:16:20]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:16:20]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:16:20]: [rm_get_install_pose] pose parse result:

[20240707 06:16:20]:  0

[20240707 06:16:20]:  0

[20240707 06:16:20]:  0

[20240707 06:16:20]: send is: {"command":"get_joint_min_pos"}


[20240707 06:16:20]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:16:20]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:16:20]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 06:16:20]:  -178000

[20240707 06:16:20]:  -130000

[20240707 06:16:20]:  -135000

[20240707 06:16:20]:  -178000

[20240707 06:16:20]:  -128000

[20240707 06:16:20]:  -360000

[20240707 06:16:20]: send is: {"command":"get_joint_max_pos"}


[20240707 06:16:20]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:16:20]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:16:20]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 06:16:20]:  178000

[20240707 06:16:20]:  130000

[20240707 06:16:20]:  135000

[20240707 06:16:20]:  178000

[20240707 06:16:20]:  128000

[20240707 06:16:20]:  360000

[20240707 06:16:20]: send is: {"command":"get_joint_max_acc"}


[20240707 06:16:20]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:16:20]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:16:20]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 06:16:20]:  100000

[20240707 06:16:20]:  100000

[20240707 06:16:20]:  100000

[20240707 06:16:20]:  100000

[20240707 06:16:20]:  100000

[20240707 06:16:20]:  100000

[20240707 06:16:20]: send is: {"command":"get_joint_max_speed"}


[20240707 06:16:20]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:16:20]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:16:20]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 06:16:20]:  30000

[20240707 06:16:20]:  30000

[20240707 06:16:20]:  37500

[20240707 06:16:20]:  37500

[20240707 06:16:20]:  37500

[20240707 06:16:20]:  37500

[20240707 06:16:25]: send is: {"command":"movej","v":20,"joint":[0,20000,70000,0,90000,0],"trajectory_connect":0,"r":1}


[20240707 06:16:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:16:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:16:25]: [rm_movej] receive_state: true

[20240707 06:16:35]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:16:35]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:16:35]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:16:35]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:16:35]: [rm_movej_p] receive_state: true

[20240707 06:16:35]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:16:35]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:16:35]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:16:43]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:16:43]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:16:43]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:16:43]: [rm_set_force_position] set_state: true

[20240707 06:16:43]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:16:43]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:16:43]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:16:43]: [rm_movel] receive_state: true

[20240707 06:16:44]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:16:44]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:16:44]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:16:44]: [rm_movel] receive_state: true

[20240707 06:16:45]: send is: {"command":"stop_force_position"}


[20240707 06:16:45]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:16:45]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:16:45]: [rm_stop_force_position] stop_state: true

[20240707 06:16:45]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:16:45]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:16:45]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:16:45]: [rm_set_force_position] set_state: true

[20240707 06:16:45]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:16:45]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:16:45]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:16:45]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:16:45]: [rm_movel] receive_state: true

[20240707 06:16:46]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:16:46]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:16:46]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:16:46]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:16:46]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:16:46]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:16:46]: [rm_movel] receive_state: true

[20240707 06:16:46]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:16:46]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:16:46]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:16:46]: send is: {"command":"stop_force_position"}


[20240707 06:16:46]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:16:46]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:16:46]: [rm_stop_force_position] stop_state: true

[20240707 06:16:46]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:16:46]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:16:46]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:16:46]: [rm_set_force_position] set_state: true

[20240707 06:16:46]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:16:46]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:16:46]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:16:46]: [rm_movel] receive_state: true

[20240707 06:16:47]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:16:47]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:16:47]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:16:47]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:16:47]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:16:47]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:16:47]: [rm_movel] receive_state: true

[20240707 06:16:47]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:16:47]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:16:47]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:16:47]: send is: {"command":"stop_force_position"}


[20240707 06:16:47]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:16:47]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:16:47]: [rm_stop_force_position] stop_state: true

[20240707 06:17:18] Begin API Testing.
[20240707 06:17:18]: send is: {"command":"get_arm_software_info"}


[20240707 06:17:18]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:17:18]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:17:18]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 06:17:18]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 06:17:18]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 06:17:18]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 06:17:18]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 06:17:18]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 06:17:18]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 06:17:18]: send is: {"command":"get_realtime_push"}


[20240707 06:17:18]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:17:18]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:17:18]: [rm_get_realtime_push] cycle parse result: 5

[20240707 06:17:18]: [rm_get_realtime_push] port parse result: 8089

[20240707 06:17:18]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 06:17:18]: [rm_get_realtime_push] enable parse result: 1

[20240707 06:17:18]: send is: {"command":"get_current_work_frame"}


[20240707 06:17:18]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:17:18]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:17:18]: [get_current_work_frame] Work frame Name: World

[20240707 06:17:18]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:17:18]: send is: {"command":"get_current_tool_frame"}


[20240707 06:17:18]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:17:18]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:17:18]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 06:17:18]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:17:18]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 06:17:18]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 06:17:18]: send is: {"command":"get_install_pose"}


[20240707 06:17:18]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:17:18]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:17:18]: [rm_get_install_pose] pose parse result:

[20240707 06:17:18]:  0

[20240707 06:17:18]:  0

[20240707 06:17:18]:  0

[20240707 06:17:18]: send is: {"command":"get_joint_min_pos"}


[20240707 06:17:18]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:17:18]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:17:18]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 06:17:18]:  -178000

[20240707 06:17:18]:  -130000

[20240707 06:17:18]:  -135000

[20240707 06:17:18]:  -178000

[20240707 06:17:18]:  -128000

[20240707 06:17:18]:  -360000

[20240707 06:17:18]: send is: {"command":"get_joint_max_pos"}


[20240707 06:17:18]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:17:18]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:17:18]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 06:17:18]:  178000

[20240707 06:17:18]:  130000

[20240707 06:17:18]:  135000

[20240707 06:17:18]:  178000

[20240707 06:17:18]:  128000

[20240707 06:17:18]:  360000

[20240707 06:17:18]: send is: {"command":"get_joint_max_acc"}


[20240707 06:17:18]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:17:18]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:17:18]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 06:17:18]:  100000

[20240707 06:17:18]:  100000

[20240707 06:17:18]:  100000

[20240707 06:17:18]:  100000

[20240707 06:17:18]:  100000

[20240707 06:17:18]:  100000

[20240707 06:17:18]: send is: {"command":"get_joint_max_speed"}


[20240707 06:17:18]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:17:18]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:17:18]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 06:17:18]:  30000

[20240707 06:17:18]:  30000

[20240707 06:17:18]:  37500

[20240707 06:17:18]:  37500

[20240707 06:17:18]:  37500

[20240707 06:17:18]:  37500

[20240707 06:17:18]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 06:17:18]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:17:18]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:17:18]: [rm_movej] receive_state: true

[20240707 06:17:22]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:17:22]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:17:22]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:17:22]: [rm_movej_p] receive_state: true

[20240707 06:17:22]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:17:22]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:17:22]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:17:24]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:17:24]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:17:24]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:17:24]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:17:24]: [rm_set_force_position] set_state: true

[20240707 06:17:24]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:17:24]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:17:24]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:17:24]: [rm_movel] receive_state: true

[20240707 06:17:25]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:17:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:17:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:17:25]: [rm_movel] receive_state: true

[20240707 06:17:26]: send is: {"command":"stop_force_position"}


[20240707 06:17:26]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:17:26]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:17:26]: [rm_stop_force_position] stop_state: true

[20240707 06:17:26]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:17:26]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:17:26]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:17:26]: [rm_set_force_position] set_state: true

[20240707 06:17:26]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:17:26]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:17:26]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:17:26]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:17:26]: [rm_movel] receive_state: true

[20240707 06:17:28]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:17:28]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:17:28]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:17:28]: [rm_movel] receive_state: true

[20240707 06:17:29]: send is: {"command":"stop_force_position"}


[20240707 06:17:29]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:17:29]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:17:29]: [rm_stop_force_position] stop_state: true

[20240707 06:17:29]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:17:29]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:17:29]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:17:29]: [rm_set_force_position] set_state: true

[20240707 06:17:29]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:17:29]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:17:29]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:17:29]: [rm_movel] receive_state: true

[20240707 06:17:29]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:17:29]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:17:29]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:17:29]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:17:29]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:17:29]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:17:29]: [rm_movel] receive_state: true

[20240707 06:17:31]: send is: {"command":"stop_force_position"}


[20240707 06:17:31]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:17:31]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:17:31]: [rm_stop_force_position] stop_state: true

[20240707 06:17:43] Begin API Testing.
[20240707 06:17:43]: send is: {"command":"get_arm_software_info"}


[20240707 06:17:43]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:17:43]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:17:43]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 06:17:43]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 06:17:43]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 06:17:43]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 06:17:43]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 06:17:43]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 06:17:43]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 06:17:43]: send is: {"command":"get_realtime_push"}


[20240707 06:17:43]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:17:43]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:17:43]: [rm_get_realtime_push] cycle parse result: 5

[20240707 06:17:43]: [rm_get_realtime_push] port parse result: 8089

[20240707 06:17:43]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 06:17:43]: [rm_get_realtime_push] enable parse result: 1

[20240707 06:17:43]: send is: {"command":"get_current_work_frame"}


[20240707 06:17:43]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:17:44]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:17:44]: [get_current_work_frame] Work frame Name: World

[20240707 06:17:44]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:17:44]: send is: {"command":"get_current_tool_frame"}


[20240707 06:17:44]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:17:44]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:17:44]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 06:17:44]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:17:44]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 06:17:44]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 06:17:44]: send is: {"command":"get_install_pose"}


[20240707 06:17:44]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:17:44]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:17:44]: [rm_get_install_pose] pose parse result:

[20240707 06:17:44]:  0

[20240707 06:17:44]:  0

[20240707 06:17:44]:  0

[20240707 06:17:44]: send is: {"command":"get_joint_min_pos"}


[20240707 06:17:44]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:17:44]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:17:44]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 06:17:44]:  -178000

[20240707 06:17:44]:  -130000

[20240707 06:17:44]:  -135000

[20240707 06:17:44]:  -178000

[20240707 06:17:44]:  -128000

[20240707 06:17:44]:  -360000

[20240707 06:17:44]: send is: {"command":"get_joint_max_pos"}


[20240707 06:17:44]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:17:44]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:17:44]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 06:17:44]:  178000

[20240707 06:17:44]:  130000

[20240707 06:17:44]:  135000

[20240707 06:17:44]:  178000

[20240707 06:17:44]:  128000

[20240707 06:17:44]:  360000

[20240707 06:17:44]: send is: {"command":"get_joint_max_acc"}


[20240707 06:17:44]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:17:44]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:17:44]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 06:17:44]:  100000

[20240707 06:17:44]:  100000

[20240707 06:17:44]:  100000

[20240707 06:17:44]:  100000

[20240707 06:17:44]:  100000

[20240707 06:17:44]:  100000

[20240707 06:17:44]: send is: {"command":"get_joint_max_speed"}


[20240707 06:17:44]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:17:44]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:17:44]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 06:17:44]:  30000

[20240707 06:17:44]:  30000

[20240707 06:17:44]:  37500

[20240707 06:17:44]:  37500

[20240707 06:17:44]:  37500

[20240707 06:17:44]:  37500

[20240707 06:17:44]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 06:17:44]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:17:44]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:17:44]: [rm_movej] receive_state: true

[20240707 06:17:47]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:17:47]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:17:47]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:17:47]: [rm_movej_p] receive_state: true

[20240707 06:17:47]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:17:47]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:17:47]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:17:49]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:17:49]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:17:49]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:17:49]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:17:49]: [rm_set_force_position] set_state: true

[20240707 06:17:49]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:17:49]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:17:49]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:17:49]: [rm_movel] receive_state: true

[20240707 06:17:50]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:17:50]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:17:50]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:17:50]: [rm_movel] receive_state: true

[20240707 06:17:51]: send is: {"command":"stop_force_position"}


[20240707 06:17:51]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:17:51]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:17:51]: [rm_stop_force_position] stop_state: true

[20240707 06:17:51]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:17:51]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:17:51]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:17:51]: [rm_set_force_position] set_state: true

[20240707 06:17:51]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:17:51]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:17:52]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:17:52]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:17:52]: [rm_movel] receive_state: true

[20240707 06:17:53]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:17:53]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:17:53]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:17:53]: [rm_movel] receive_state: true

[20240707 06:17:54]: send is: {"command":"stop_force_position"}


[20240707 06:17:54]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:17:54]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:17:54]: [rm_stop_force_position] stop_state: true

[20240707 06:17:54]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:17:54]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:17:54]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:17:54]: [rm_set_force_position] set_state: true

[20240707 06:17:54]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:17:54]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:17:54]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:17:54]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:17:54]: [rm_movel] receive_state: true

[20240707 06:17:56]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:17:56]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:17:56]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:17:56]: [rm_movel] receive_state: true

[20240707 06:17:57]: send is: {"command":"stop_force_position"}


[20240707 06:17:57]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:17:57]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:17:57]: [rm_stop_force_position] stop_state: true

[20240707 06:23:27] Begin API Testing.
[20240707 06:23:27]: send is: {"command":"get_arm_software_info"}


[20240707 06:23:27]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:23:27]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:23:27]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 06:23:27]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 06:23:27]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 06:23:27]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 06:23:27]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 06:23:27]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 06:23:27]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 06:23:27]: send is: {"command":"get_realtime_push"}


[20240707 06:23:27]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:23:27]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:23:27]: [rm_get_realtime_push] cycle parse result: 5

[20240707 06:23:27]: [rm_get_realtime_push] port parse result: 8089

[20240707 06:23:27]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 06:23:27]: [rm_get_realtime_push] enable parse result: 1

[20240707 06:23:27]: send is: {"command":"get_current_work_frame"}


[20240707 06:23:27]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:23:27]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:23:27]: [get_current_work_frame] Work frame Name: World

[20240707 06:23:27]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:23:27]: send is: {"command":"get_current_tool_frame"}


[20240707 06:23:27]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:23:27]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:23:27]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 06:23:27]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:23:27]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 06:23:27]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 06:23:27]: send is: {"command":"get_install_pose"}


[20240707 06:23:27]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:23:27]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:23:27]: [rm_get_install_pose] pose parse result:

[20240707 06:23:27]:  0

[20240707 06:23:27]:  0

[20240707 06:23:27]:  0

[20240707 06:23:27]: send is: {"command":"get_joint_min_pos"}


[20240707 06:23:27]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:23:27]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:23:27]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 06:23:27]:  -178000

[20240707 06:23:27]:  -130000

[20240707 06:23:27]:  -135000

[20240707 06:23:27]:  -178000

[20240707 06:23:27]:  -128000

[20240707 06:23:27]:  -360000

[20240707 06:23:27]: send is: {"command":"get_joint_max_pos"}


[20240707 06:23:27]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:23:27]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:23:27]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 06:23:27]:  178000

[20240707 06:23:27]:  130000

[20240707 06:23:27]:  135000

[20240707 06:23:27]:  178000

[20240707 06:23:27]:  128000

[20240707 06:23:27]:  360000

[20240707 06:23:27]: send is: {"command":"get_joint_max_acc"}


[20240707 06:23:27]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:23:27]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:23:27]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 06:23:27]:  100000

[20240707 06:23:27]:  100000

[20240707 06:23:27]:  100000

[20240707 06:23:27]:  100000

[20240707 06:23:27]:  100000

[20240707 06:23:27]:  100000

[20240707 06:23:27]: send is: {"command":"get_joint_max_speed"}


[20240707 06:23:27]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:23:27]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:23:27]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 06:23:27]:  30000

[20240707 06:23:27]:  30000

[20240707 06:23:27]:  37500

[20240707 06:23:27]:  37500

[20240707 06:23:27]:  37500

[20240707 06:23:27]:  37500

[20240707 06:23:27]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:23:27]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:23:27]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:23:27]: [rm_movej_p] receive_state: true

[20240707 06:23:27]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:23:27]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:23:27]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:23:29]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:23:29]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:23:29]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:23:29]: [rm_set_force_position] set_state: true

[20240707 06:23:29]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:23:29]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:23:29]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:23:29]: [rm_movel] receive_state: true

[20240707 06:23:30]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:23:30]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:23:30]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:23:30]: [rm_movel] receive_state: true

[20240707 06:23:31]: send is: {"command":"stop_force_position"}


[20240707 06:23:31]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:23:31]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:23:31]: [rm_stop_force_position] stop_state: true

[20240707 06:23:31]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:23:31]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:23:31]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:23:31]: [rm_set_force_position] set_state: true

[20240707 06:23:31]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:23:31]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:23:31]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:23:31]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:23:31]: [rm_movel] receive_state: true

[20240707 06:23:33]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:23:33]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:23:33]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:23:33]: [rm_movel] receive_state: true

[20240707 06:23:34]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:23:34]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:23:34]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:23:34]: send is: {"command":"stop_force_position"}


[20240707 06:23:34]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:23:34]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:23:34]: [rm_stop_force_position] stop_state: true

[20240707 06:23:34]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:23:34]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:23:34]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:23:34]: [rm_set_force_position] set_state: true

[20240707 06:23:34]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:23:34]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:23:34]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:23:34]: [rm_movel] receive_state: true

[20240707 06:23:34]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:23:34]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:23:34]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:23:34]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:23:34]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:23:34]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:23:34]: [rm_movel] receive_state: true

[20240707 06:23:34]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:23:34]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:23:34]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:23:34]: send is: {"command":"stop_force_position"}


[20240707 06:23:34]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:23:34]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:23:34]: [rm_stop_force_position] stop_state: true

[20240707 06:23:58] Begin API Testing.
[20240707 06:23:58]: send is: {"command":"get_arm_software_info"}


[20240707 06:23:58]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:23:58]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:23:58]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 06:23:58]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 06:23:58]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 06:23:58]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 06:23:58]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 06:23:58]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 06:23:58]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 06:23:58]: send is: {"command":"get_realtime_push"}


[20240707 06:23:58]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:23:58]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:23:58]: [rm_get_realtime_push] cycle parse result: 5

[20240707 06:23:58]: [rm_get_realtime_push] port parse result: 8089

[20240707 06:23:58]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 06:23:58]: [rm_get_realtime_push] enable parse result: 1

[20240707 06:23:58]: send is: {"command":"get_current_work_frame"}


[20240707 06:23:58]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:23:58]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:23:58]: [get_current_work_frame] Work frame Name: World

[20240707 06:23:58]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:23:58]: send is: {"command":"get_current_tool_frame"}


[20240707 06:23:58]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:23:58]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:23:58]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 06:23:58]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:23:58]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 06:23:58]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 06:23:58]: send is: {"command":"get_install_pose"}


[20240707 06:23:58]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:23:58]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:23:58]: [rm_get_install_pose] pose parse result:

[20240707 06:23:58]:  0

[20240707 06:23:58]:  0

[20240707 06:23:58]:  0

[20240707 06:23:58]: send is: {"command":"get_joint_min_pos"}


[20240707 06:23:58]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:23:58]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:23:58]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 06:23:58]:  -178000

[20240707 06:23:58]:  -130000

[20240707 06:23:58]:  -135000

[20240707 06:23:58]:  -178000

[20240707 06:23:58]:  -128000

[20240707 06:23:58]:  -360000

[20240707 06:23:58]: send is: {"command":"get_joint_max_pos"}


[20240707 06:23:58]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:23:58]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:23:58]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 06:23:58]:  178000

[20240707 06:23:58]:  130000

[20240707 06:23:58]:  135000

[20240707 06:23:58]:  178000

[20240707 06:23:58]:  128000

[20240707 06:23:58]:  360000

[20240707 06:23:58]: send is: {"command":"get_joint_max_acc"}


[20240707 06:23:58]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:23:58]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:23:58]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 06:23:58]:  100000

[20240707 06:23:58]:  100000

[20240707 06:23:58]:  100000

[20240707 06:23:58]:  100000

[20240707 06:23:58]:  100000

[20240707 06:23:58]:  100000

[20240707 06:23:58]: send is: {"command":"get_joint_max_speed"}


[20240707 06:23:58]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:23:58]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:23:58]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 06:23:58]:  30000

[20240707 06:23:58]:  30000

[20240707 06:23:58]:  37500

[20240707 06:23:58]:  37500

[20240707 06:23:58]:  37500

[20240707 06:23:58]:  37500

[20240707 06:23:58]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:23:58]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:23:58]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:23:58]: [rm_movej_p] receive_state: true

[20240707 06:23:58]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:23:58]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:23:58]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:24:00]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:24:00]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:24:00]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:24:00]: [rm_set_force_position] set_state: true

[20240707 06:24:00]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:24:00]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:24:00]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:24:00]: [rm_movel] receive_state: true

[20240707 06:24:00]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:24:00]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:24:00]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:24:00]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:24:00]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:24:00]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:24:00]: [rm_movel] receive_state: true

[20240707 06:24:00]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:24:00]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:24:00]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:24:00]: send is: {"command":"stop_force_position"}


[20240707 06:24:00]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:24:00]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:24:00]: [rm_stop_force_position] stop_state: true

[20240707 06:24:00]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:24:00]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:24:00]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:24:00]: [rm_set_force_position] set_state: true

[20240707 06:24:00]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:24:00]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:24:00]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:24:00]: [rm_movel] receive_state: true

[20240707 06:24:00]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:24:00]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:24:00]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:24:00]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:24:00]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:24:00]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:24:00]: [rm_movel] receive_state: true

[20240707 06:24:00]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:24:00]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:24:00]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:24:00]: send is: {"command":"stop_force_position"}


[20240707 06:24:00]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:24:00]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:24:00]: [rm_stop_force_position] stop_state: true

[20240707 06:24:00]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:24:00]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:24:00]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:24:00]: [rm_set_force_position] set_state: true

[20240707 06:24:00]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:24:00]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:24:00]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:24:00]: [rm_movel] receive_state: true

[20240707 06:24:01]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:24:01]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:24:01]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:24:01]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:24:01]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:24:01]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:24:01]: [rm_movel] receive_state: true

[20240707 06:24:01]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:24:01]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:24:01]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:24:01]: send is: {"command":"stop_force_position"}


[20240707 06:24:01]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:24:01]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:24:01]: [rm_stop_force_position] stop_state: true

[20240707 06:24:50] Begin API Testing.
[20240707 06:24:52]: send is: {"command":"get_arm_software_info"}


[20240707 06:24:52]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:24:52]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:24:52]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 06:24:52]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 06:24:52]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 06:24:52]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 06:24:52]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 06:24:52]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 06:24:52]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 06:24:52]: send is: {"command":"get_realtime_push"}


[20240707 06:24:52]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:24:52]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:24:52]: [rm_get_realtime_push] cycle parse result: 5

[20240707 06:24:52]: [rm_get_realtime_push] port parse result: 8089

[20240707 06:24:52]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 06:24:52]: [rm_get_realtime_push] enable parse result: 1

[20240707 06:24:52]: send is: {"command":"get_current_work_frame"}


[20240707 06:24:52]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:24:52]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:24:52]: [get_current_work_frame] Work frame Name: World

[20240707 06:24:52]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:24:52]: send is: {"command":"get_current_tool_frame"}


[20240707 06:24:52]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:24:52]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:24:52]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 06:24:52]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:24:52]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 06:24:52]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 06:24:52]: send is: {"command":"get_install_pose"}


[20240707 06:24:52]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:24:52]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:24:52]: [rm_get_install_pose] pose parse result:

[20240707 06:24:52]:  0

[20240707 06:24:52]:  0

[20240707 06:24:52]:  0

[20240707 06:24:52]: send is: {"command":"get_joint_min_pos"}


[20240707 06:24:52]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:24:52]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:24:52]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 06:24:52]:  -178000

[20240707 06:24:52]:  -130000

[20240707 06:24:52]:  -135000

[20240707 06:24:52]:  -178000

[20240707 06:24:52]:  -128000

[20240707 06:24:52]:  -360000

[20240707 06:24:52]: send is: {"command":"get_joint_max_pos"}


[20240707 06:24:52]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:24:52]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:24:52]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 06:24:52]:  178000

[20240707 06:24:52]:  130000

[20240707 06:24:52]:  135000

[20240707 06:24:52]:  178000

[20240707 06:24:52]:  128000

[20240707 06:24:52]:  360000

[20240707 06:24:52]: send is: {"command":"get_joint_max_acc"}


[20240707 06:24:52]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:24:52]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:24:52]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 06:24:52]:  100000

[20240707 06:24:52]:  100000

[20240707 06:24:52]:  100000

[20240707 06:24:52]:  100000

[20240707 06:24:52]:  100000

[20240707 06:24:52]:  100000

[20240707 06:24:52]: send is: {"command":"get_joint_max_speed"}


[20240707 06:24:52]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:24:52]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:24:52]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 06:24:52]:  30000

[20240707 06:24:52]:  30000

[20240707 06:24:52]:  37500

[20240707 06:24:52]:  37500

[20240707 06:24:52]:  37500

[20240707 06:24:52]:  37500

[20240707 06:24:56]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 06:24:56]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:24:56]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:24:56]: [rm_movej] receive_state: true

[20240707 06:24:57]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,0,0,0],"trajectory_connect":0,"r":0}


[20240707 06:24:57]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:24:57]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:24:57]: [rm_movej_p] receive_state: true

[20240707 06:24:57]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:24:57]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:24:57]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:26:11] Begin API Testing.
[20240707 06:26:14]: send is: {"command":"get_arm_software_info"}


[20240707 06:26:14]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:26:14]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:26:14]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 06:26:14]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 06:26:14]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 06:26:14]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 06:26:14]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 06:26:14]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 06:26:14]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 06:26:14]: send is: {"command":"get_realtime_push"}


[20240707 06:26:14]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:26:14]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:26:14]: [rm_get_realtime_push] cycle parse result: 5

[20240707 06:26:14]: [rm_get_realtime_push] port parse result: 8089

[20240707 06:26:14]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 06:26:14]: [rm_get_realtime_push] enable parse result: 1

[20240707 06:26:14]: send is: {"command":"get_current_work_frame"}


[20240707 06:26:14]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:26:14]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:26:14]: [get_current_work_frame] Work frame Name: World

[20240707 06:26:14]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:26:14]: send is: {"command":"get_current_tool_frame"}


[20240707 06:26:14]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:26:14]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:26:14]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 06:26:14]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:26:14]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 06:26:14]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 06:26:14]: send is: {"command":"get_install_pose"}


[20240707 06:26:14]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:26:14]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:26:14]: [rm_get_install_pose] pose parse result:

[20240707 06:26:14]:  0

[20240707 06:26:14]:  0

[20240707 06:26:14]:  0

[20240707 06:26:14]: send is: {"command":"get_joint_min_pos"}


[20240707 06:26:14]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:26:14]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:26:14]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 06:26:14]:  -178000

[20240707 06:26:14]:  -130000

[20240707 06:26:14]:  -135000

[20240707 06:26:14]:  -178000

[20240707 06:26:14]:  -128000

[20240707 06:26:14]:  -360000

[20240707 06:26:14]: send is: {"command":"get_joint_max_pos"}


[20240707 06:26:14]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:26:14]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:26:14]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 06:26:14]:  178000

[20240707 06:26:14]:  130000

[20240707 06:26:14]:  135000

[20240707 06:26:14]:  178000

[20240707 06:26:14]:  128000

[20240707 06:26:14]:  360000

[20240707 06:26:14]: send is: {"command":"get_joint_max_acc"}


[20240707 06:26:14]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:26:14]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:26:14]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 06:26:14]:  100000

[20240707 06:26:14]:  100000

[20240707 06:26:14]:  100000

[20240707 06:26:14]:  100000

[20240707 06:26:14]:  100000

[20240707 06:26:14]:  100000

[20240707 06:26:14]: send is: {"command":"get_joint_max_speed"}


[20240707 06:26:14]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:26:14]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:26:14]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 06:26:14]:  30000

[20240707 06:26:14]:  30000

[20240707 06:26:14]:  37500

[20240707 06:26:14]:  37500

[20240707 06:26:14]:  37500

[20240707 06:26:14]:  37500

[20240707 06:26:14]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 06:26:14]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:26:14]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:26:14]: [rm_movej] receive_state: true

[20240707 06:26:14]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:26:14]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:26:14]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:26:30]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:26:30]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:26:30]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:26:30]: [rm_movej_p] receive_state: true

[20240707 06:28:07] Begin API Testing.
[20240707 06:28:12]: send is: {"command":"get_arm_software_info"}


[20240707 06:28:12]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:28:12]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:28:12]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 06:28:12]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 06:28:12]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 06:28:12]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 06:28:12]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 06:28:12]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 06:28:12]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 06:28:12]: send is: {"command":"get_realtime_push"}


[20240707 06:28:12]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:28:12]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:28:12]: [rm_get_realtime_push] cycle parse result: 5

[20240707 06:28:12]: [rm_get_realtime_push] port parse result: 8089

[20240707 06:28:12]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 06:28:12]: [rm_get_realtime_push] enable parse result: 1

[20240707 06:28:12]: send is: {"command":"get_current_work_frame"}


[20240707 06:28:12]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:28:12]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:28:12]: [get_current_work_frame] Work frame Name: World

[20240707 06:28:12]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:28:12]: send is: {"command":"get_current_tool_frame"}


[20240707 06:28:12]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:28:12]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:28:12]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 06:28:12]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:28:12]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 06:28:12]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 06:28:12]: send is: {"command":"get_install_pose"}


[20240707 06:28:12]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:28:12]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:28:12]: [rm_get_install_pose] pose parse result:

[20240707 06:28:12]:  0

[20240707 06:28:12]:  0

[20240707 06:28:12]:  0

[20240707 06:28:12]: send is: {"command":"get_joint_min_pos"}


[20240707 06:28:12]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:28:12]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:28:12]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 06:28:12]:  -178000

[20240707 06:28:12]:  -130000

[20240707 06:28:12]:  -135000

[20240707 06:28:12]:  -178000

[20240707 06:28:12]:  -128000

[20240707 06:28:12]:  -360000

[20240707 06:28:12]: send is: {"command":"get_joint_max_pos"}


[20240707 06:28:12]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:28:12]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:28:12]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 06:28:12]:  178000

[20240707 06:28:12]:  130000

[20240707 06:28:12]:  135000

[20240707 06:28:12]:  178000

[20240707 06:28:12]:  128000

[20240707 06:28:12]:  360000

[20240707 06:28:12]: send is: {"command":"get_joint_max_acc"}


[20240707 06:28:12]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:28:12]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:28:12]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 06:28:12]:  100000

[20240707 06:28:12]:  100000

[20240707 06:28:12]:  100000

[20240707 06:28:12]:  100000

[20240707 06:28:12]:  100000

[20240707 06:28:12]:  100000

[20240707 06:28:12]: send is: {"command":"get_joint_max_speed"}


[20240707 06:28:12]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:28:12]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:28:12]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 06:28:12]:  30000

[20240707 06:28:12]:  30000

[20240707 06:28:12]:  37500

[20240707 06:28:12]:  37500

[20240707 06:28:12]:  37500

[20240707 06:28:12]:  37500

[20240707 06:28:12]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 06:28:12]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:28:12]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:28:12]: [rm_movej] receive_state: true

[20240707 06:28:16]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:28:16]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:28:16]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:28:16]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:28:16]: [rm_movej_p] receive_state: true

[20240707 06:28:26]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:28:26]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:28:26]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:28:26]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:28:26]: [rm_set_force_position] set_state: true

[20240707 06:28:28]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:28:28]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:28:28]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:28:28]: [rm_movel] receive_state: true

[20240707 06:28:28]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:28:28]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:28:28]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:29:02]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:29:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:29:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:29:02]: [rm_movel] receive_state: true

[20240707 06:29:03]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:29:03]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:29:03]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:29:05]: send is: {"command":"stop_force_position"}


[20240707 06:29:05]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:29:05]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:29:05]: [rm_stop_force_position] stop_state: true

[20240707 06:29:05]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:29:05]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:29:05]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:29:05]: [rm_set_force_position] set_state: true

[20240707 06:29:06]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:29:06]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:29:06]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:29:06]: [rm_movel] receive_state: true

[20240707 06:29:07]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:29:07]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:29:07]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:29:09]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:29:09]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:29:09]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:29:09]: [rm_movel] receive_state: true

[20240707 06:29:11]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:29:11]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:29:11]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:29:11]: send is: {"command":"stop_force_position"}


[20240707 06:29:11]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:29:11]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:29:11]: [rm_stop_force_position] stop_state: true

[20240707 06:29:11]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:29:11]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:29:11]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:29:11]: [rm_set_force_position] set_state: true

[20240707 06:29:12]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:29:12]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:29:12]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:29:12]: [rm_movel] receive_state: true

[20240707 06:29:13]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:29:13]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:29:13]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:29:14]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:29:14]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:29:14]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:29:14]: [rm_movel] receive_state: true

[20240707 06:29:15]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:29:15]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:29:15]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:29:18]: send is: {"command":"stop_force_position"}


[20240707 06:29:18]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:29:18]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:29:18]: [rm_stop_force_position] stop_state: true

[20240707 06:29:26] Begin API Testing.
[20240707 06:29:26]: send is: {"command":"get_arm_software_info"}


[20240707 06:29:26]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:29:26]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:29:26]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 06:29:26]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 06:29:26]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 06:29:26]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 06:29:26]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 06:29:26]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 06:29:26]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 06:29:26]: send is: {"command":"get_realtime_push"}


[20240707 06:29:26]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:29:26]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:29:26]: [rm_get_realtime_push] cycle parse result: 5

[20240707 06:29:26]: [rm_get_realtime_push] port parse result: 8089

[20240707 06:29:26]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 06:29:26]: [rm_get_realtime_push] enable parse result: 1

[20240707 06:29:26]: send is: {"command":"get_current_work_frame"}


[20240707 06:29:26]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:29:26]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:29:26]: [get_current_work_frame] Work frame Name: World

[20240707 06:29:26]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:29:26]: send is: {"command":"get_current_tool_frame"}


[20240707 06:29:26]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:29:26]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:29:26]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 06:29:26]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:29:26]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 06:29:26]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 06:29:26]: send is: {"command":"get_install_pose"}


[20240707 06:29:26]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:29:26]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:29:26]: [rm_get_install_pose] pose parse result:

[20240707 06:29:26]:  0

[20240707 06:29:26]:  0

[20240707 06:29:26]:  0

[20240707 06:29:26]: send is: {"command":"get_joint_min_pos"}


[20240707 06:29:26]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:29:26]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:29:26]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 06:29:26]:  -178000

[20240707 06:29:26]:  -130000

[20240707 06:29:26]:  -135000

[20240707 06:29:26]:  -178000

[20240707 06:29:26]:  -128000

[20240707 06:29:26]:  -360000

[20240707 06:29:26]: send is: {"command":"get_joint_max_pos"}


[20240707 06:29:26]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:29:26]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:29:26]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 06:29:26]:  178000

[20240707 06:29:26]:  130000

[20240707 06:29:26]:  135000

[20240707 06:29:26]:  178000

[20240707 06:29:26]:  128000

[20240707 06:29:26]:  360000

[20240707 06:29:26]: send is: {"command":"get_joint_max_acc"}


[20240707 06:29:26]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:29:26]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:29:26]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 06:29:26]:  100000

[20240707 06:29:26]:  100000

[20240707 06:29:26]:  100000

[20240707 06:29:26]:  100000

[20240707 06:29:26]:  100000

[20240707 06:29:26]:  100000

[20240707 06:29:26]: send is: {"command":"get_joint_max_speed"}


[20240707 06:29:26]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:29:26]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:29:26]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 06:29:26]:  30000

[20240707 06:29:26]:  30000

[20240707 06:29:26]:  37500

[20240707 06:29:26]:  37500

[20240707 06:29:26]:  37500

[20240707 06:29:26]:  37500

[20240707 06:29:26]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 06:29:26]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:29:26]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:29:26]: [rm_movej] receive_state: true

[20240707 06:29:28]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:29:28]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:29:28]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:29:28]: [rm_movej_p] receive_state: true

[20240707 06:29:29]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:29:29]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:29:29]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:29:31]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:29:31]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:29:31]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:29:31]: [rm_set_force_position] set_state: true

[20240707 06:29:31]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:29:31]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:29:31]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:29:31]: [rm_movel] receive_state: true

[20240707 06:29:32]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:29:32]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:29:32]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:29:32]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:29:32]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:29:32]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:29:32]: [rm_movel] receive_state: true

[20240707 06:29:33]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:29:33]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:29:33]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:29:33]: send is: {"command":"stop_force_position"}


[20240707 06:29:33]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:29:33]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:29:33]: [rm_stop_force_position] stop_state: true

[20240707 06:29:33]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:29:33]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:29:33]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:29:33]: [rm_set_force_position] set_state: true

[20240707 06:29:33]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:29:33]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:29:33]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:29:33]: [rm_movel] receive_state: true

[20240707 06:29:34]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:29:34]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:29:34]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:29:34]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:29:34]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:29:34]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:29:34]: [rm_movel] receive_state: true

[20240707 06:29:36]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:29:36]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:29:36]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:29:36]: send is: {"command":"stop_force_position"}


[20240707 06:29:36]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:29:36]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:29:36]: [rm_stop_force_position] stop_state: true

[20240707 06:29:36]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:29:36]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:29:36]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:29:36]: [rm_set_force_position] set_state: true

[20240707 06:29:36]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:29:36]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:29:36]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:29:36]: [rm_movel] receive_state: true

[20240707 06:29:37]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:29:37]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:29:37]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:29:37]: [rm_movel] receive_state: true

[20240707 06:29:37]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:29:37]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:29:37]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:29:37]: send is: {"command":"stop_force_position"}


[20240707 06:29:37]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:29:37]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:29:37]: [rm_stop_force_position] stop_state: true

[20240707 06:30:54] Begin API Testing.
[20240707 06:30:54]: send is: {"command":"get_arm_software_info"}


[20240707 06:30:54]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:30:54]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:30:54]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 06:30:54]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 06:30:54]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 06:30:54]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 06:30:54]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 06:30:54]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 06:30:54]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 06:30:54]: send is: {"command":"get_realtime_push"}


[20240707 06:30:54]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:30:54]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:30:54]: [rm_get_realtime_push] cycle parse result: 5

[20240707 06:30:54]: [rm_get_realtime_push] port parse result: 8089

[20240707 06:30:54]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 06:30:54]: [rm_get_realtime_push] enable parse result: 1

[20240707 06:30:54]: send is: {"command":"get_current_work_frame"}


[20240707 06:30:54]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:30:54]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:30:54]: [get_current_work_frame] Work frame Name: World

[20240707 06:30:54]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:30:54]: send is: {"command":"get_current_tool_frame"}


[20240707 06:30:54]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:30:54]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:30:54]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 06:30:54]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:30:54]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 06:30:54]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 06:30:54]: send is: {"command":"get_install_pose"}


[20240707 06:30:54]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:30:54]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:30:54]: [rm_get_install_pose] pose parse result:

[20240707 06:30:54]:  0

[20240707 06:30:54]:  0

[20240707 06:30:54]:  0

[20240707 06:30:54]: send is: {"command":"get_joint_min_pos"}


[20240707 06:30:54]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:30:54]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:30:54]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 06:30:54]:  -178000

[20240707 06:30:54]:  -130000

[20240707 06:30:54]:  -135000

[20240707 06:30:54]:  -178000

[20240707 06:30:54]:  -128000

[20240707 06:30:54]:  -360000

[20240707 06:30:54]: send is: {"command":"get_joint_max_pos"}


[20240707 06:30:54]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:30:54]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:30:54]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 06:30:54]:  178000

[20240707 06:30:54]:  130000

[20240707 06:30:54]:  135000

[20240707 06:30:54]:  178000

[20240707 06:30:54]:  128000

[20240707 06:30:54]:  360000

[20240707 06:30:54]: send is: {"command":"get_joint_max_acc"}


[20240707 06:30:54]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:30:54]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:30:54]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 06:30:54]:  100000

[20240707 06:30:54]:  100000

[20240707 06:30:54]:  100000

[20240707 06:30:54]:  100000

[20240707 06:30:54]:  100000

[20240707 06:30:54]:  100000

[20240707 06:30:54]: send is: {"command":"get_joint_max_speed"}


[20240707 06:30:54]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:30:54]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:30:54]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 06:30:54]:  30000

[20240707 06:30:54]:  30000

[20240707 06:30:54]:  37500

[20240707 06:30:54]:  37500

[20240707 06:30:54]:  37500

[20240707 06:30:54]:  37500

[20240707 06:30:54]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 06:30:54]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:30:54]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:30:54]: [rm_movej] receive_state: true

[20240707 06:30:55]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:30:55]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:30:55]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:30:55]: [rm_movej_p] receive_state: true

[20240707 06:30:59]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:30:59]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:30:59]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:30:59]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:30:59]: [rm_set_force_position] set_state: true

[20240707 06:30:59]: send is: {"command":"movel","v":35,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:30:59]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:30:59]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:30:59]: [rm_movel] receive_state: true

[20240707 06:31:00]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:31:00]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:31:00]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:31:00]: send is: {"command":"movel","v":35,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:31:00]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:00]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:00]: [rm_movel] receive_state: true

[20240707 06:31:01]: send is: {"command":"stop_force_position"}


[20240707 06:31:01]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:31:01]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:31:01]: [rm_stop_force_position] stop_state: true

[20240707 06:31:01]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:31:01]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:31:01]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:31:01]: [rm_set_force_position] set_state: true

[20240707 06:31:01]: send is: {"command":"movel","v":35,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:31:01]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:31:01]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:01]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:01]: [rm_movel] receive_state: true

[20240707 06:31:02]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:31:02]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:31:02]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:31:02]: send is: {"command":"movel","v":35,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:31:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:02]: [rm_movel] receive_state: true

[20240707 06:31:02]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:31:02]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:31:02]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:31:02]: send is: {"command":"stop_force_position"}


[20240707 06:31:02]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:31:02]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:31:02]: [rm_stop_force_position] stop_state: true

[20240707 06:31:02]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:31:02]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:31:02]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:31:02]: [rm_set_force_position] set_state: true

[20240707 06:31:02]: send is: {"command":"movel","v":35,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:31:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:02]: [rm_movel] receive_state: true

[20240707 06:31:02]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:31:02]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:31:02]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:31:03]: send is: {"command":"movel","v":35,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:31:03]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:03]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:03]: [rm_movel] receive_state: true

[20240707 06:31:04]: send is: {"command":"stop_force_position"}


[20240707 06:31:04]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:31:04]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:31:04]: [rm_stop_force_position] stop_state: true

[20240707 06:31:21] Begin API Testing.
[20240707 06:31:21]: send is: {"command":"get_arm_software_info"}


[20240707 06:31:21]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:31:21]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:31:21]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 06:31:21]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 06:31:21]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 06:31:21]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 06:31:21]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 06:31:21]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 06:31:21]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 06:31:21]: send is: {"command":"get_realtime_push"}


[20240707 06:31:21]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:31:21]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:31:21]: [rm_get_realtime_push] cycle parse result: 5

[20240707 06:31:21]: [rm_get_realtime_push] port parse result: 8089

[20240707 06:31:21]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 06:31:21]: [rm_get_realtime_push] enable parse result: 1

[20240707 06:31:21]: send is: {"command":"get_current_work_frame"}


[20240707 06:31:21]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:31:21]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:31:21]: [get_current_work_frame] Work frame Name: World

[20240707 06:31:21]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:31:21]: send is: {"command":"get_current_tool_frame"}


[20240707 06:31:21]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:31:21]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:31:21]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 06:31:21]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:31:21]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 06:31:21]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 06:31:21]: send is: {"command":"get_install_pose"}


[20240707 06:31:21]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:31:21]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:31:21]: [rm_get_install_pose] pose parse result:

[20240707 06:31:21]:  0

[20240707 06:31:21]:  0

[20240707 06:31:21]:  0

[20240707 06:31:21]: send is: {"command":"get_joint_min_pos"}


[20240707 06:31:21]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:31:21]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:31:21]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 06:31:21]:  -178000

[20240707 06:31:21]:  -130000

[20240707 06:31:21]:  -135000

[20240707 06:31:21]:  -178000

[20240707 06:31:21]:  -128000

[20240707 06:31:21]:  -360000

[20240707 06:31:21]: send is: {"command":"get_joint_max_pos"}


[20240707 06:31:21]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:31:21]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:31:21]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 06:31:21]:  178000

[20240707 06:31:21]:  130000

[20240707 06:31:21]:  135000

[20240707 06:31:21]:  178000

[20240707 06:31:21]:  128000

[20240707 06:31:21]:  360000

[20240707 06:31:21]: send is: {"command":"get_joint_max_acc"}


[20240707 06:31:21]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:31:21]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:31:21]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 06:31:21]:  100000

[20240707 06:31:21]:  100000

[20240707 06:31:21]:  100000

[20240707 06:31:21]:  100000

[20240707 06:31:21]:  100000

[20240707 06:31:21]:  100000

[20240707 06:31:21]: send is: {"command":"get_joint_max_speed"}


[20240707 06:31:21]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:31:21]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:31:21]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 06:31:21]:  30000

[20240707 06:31:21]:  30000

[20240707 06:31:21]:  37500

[20240707 06:31:21]:  37500

[20240707 06:31:21]:  37500

[20240707 06:31:21]:  37500

[20240707 06:31:21]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 06:31:21]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:31:21]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:31:21]: [rm_movej] receive_state: true

[20240707 06:31:23]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:31:23]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:31:23]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:31:23]: [rm_movej_p] receive_state: true

[20240707 06:31:26]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:31:26]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:31:26]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:31:26]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:31:26]: [rm_set_force_position] set_state: true

[20240707 06:31:26]: send is: {"command":"movel","v":35,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:31:26]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:26]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:26]: [rm_movel] receive_state: true

[20240707 06:31:27]: send is: {"command":"movel","v":35,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:31:27]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:27]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:27]: [rm_movel] receive_state: true

[20240707 06:31:27]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:31:27]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:31:27]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:31:27]: send is: {"command":"stop_force_position"}


[20240707 06:31:27]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:31:27]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:31:27]: [rm_stop_force_position] stop_state: true

[20240707 06:31:27]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:31:27]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:31:27]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:31:27]: [rm_set_force_position] set_state: true

[20240707 06:31:27]: send is: {"command":"movel","v":35,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:31:27]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:27]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:27]: [rm_movel] receive_state: true

[20240707 06:31:29]: send is: {"command":"movel","v":35,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:31:29]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:29]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:29]: [rm_movel] receive_state: true

[20240707 06:31:29]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:31:29]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:31:29]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:31:29]: send is: {"command":"stop_force_position"}


[20240707 06:31:29]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:31:29]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:31:29]: [rm_stop_force_position] stop_state: true

[20240707 06:31:29]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:31:29]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:31:29]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:31:29]: [rm_set_force_position] set_state: true

[20240707 06:31:29]: send is: {"command":"movel","v":35,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:31:29]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:29]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:29]: [rm_movel] receive_state: true

[20240707 06:31:30]: send is: {"command":"movel","v":35,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:31:30]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:30]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:30]: [rm_movel] receive_state: true

[20240707 06:31:30]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:31:30]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:31:30]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:31:30]: send is: {"command":"stop_force_position"}


[20240707 06:31:30]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:31:30]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:31:30]: [rm_stop_force_position] stop_state: true

[20240707 06:31:45] Begin API Testing.
[20240707 06:31:45]: send is: {"command":"get_arm_software_info"}


[20240707 06:31:45]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:31:45]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:31:45]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 06:31:45]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 06:31:45]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 06:31:45]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 06:31:45]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 06:31:45]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 06:31:45]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 06:31:45]: send is: {"command":"get_realtime_push"}


[20240707 06:31:45]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:31:45]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:31:45]: [rm_get_realtime_push] cycle parse result: 5

[20240707 06:31:45]: [rm_get_realtime_push] port parse result: 8089

[20240707 06:31:45]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 06:31:45]: [rm_get_realtime_push] enable parse result: 1

[20240707 06:31:45]: send is: {"command":"get_current_work_frame"}


[20240707 06:31:45]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:31:45]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:31:45]: [get_current_work_frame] Work frame Name: World

[20240707 06:31:45]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:31:45]: send is: {"command":"get_current_tool_frame"}


[20240707 06:31:45]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:31:45]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:31:45]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 06:31:45]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:31:45]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 06:31:45]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 06:31:45]: send is: {"command":"get_install_pose"}


[20240707 06:31:45]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:31:45]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:31:45]: [rm_get_install_pose] pose parse result:

[20240707 06:31:45]:  0

[20240707 06:31:45]:  0

[20240707 06:31:45]:  0

[20240707 06:31:45]: send is: {"command":"get_joint_min_pos"}


[20240707 06:31:45]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:31:45]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:31:45]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 06:31:45]:  -178000

[20240707 06:31:45]:  -130000

[20240707 06:31:45]:  -135000

[20240707 06:31:45]:  -178000

[20240707 06:31:45]:  -128000

[20240707 06:31:45]:  -360000

[20240707 06:31:45]: send is: {"command":"get_joint_max_pos"}


[20240707 06:31:45]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:31:45]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:31:45]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 06:31:45]:  178000

[20240707 06:31:45]:  130000

[20240707 06:31:45]:  135000

[20240707 06:31:45]:  178000

[20240707 06:31:45]:  128000

[20240707 06:31:45]:  360000

[20240707 06:31:45]: send is: {"command":"get_joint_max_acc"}


[20240707 06:31:45]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:31:45]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:31:45]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 06:31:45]:  100000

[20240707 06:31:45]:  100000

[20240707 06:31:45]:  100000

[20240707 06:31:45]:  100000

[20240707 06:31:45]:  100000

[20240707 06:31:45]:  100000

[20240707 06:31:45]: send is: {"command":"get_joint_max_speed"}


[20240707 06:31:45]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:31:45]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:31:45]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 06:31:45]:  30000

[20240707 06:31:45]:  30000

[20240707 06:31:45]:  37500

[20240707 06:31:45]:  37500

[20240707 06:31:45]:  37500

[20240707 06:31:45]:  37500

[20240707 06:31:45]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 06:31:45]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:31:45]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:31:45]: [rm_movej] receive_state: true

[20240707 06:31:47]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:31:47]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:31:47]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:31:47]: [rm_movej_p] receive_state: true

[20240707 06:31:50]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:31:50]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:31:50]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:31:50]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:31:50]: [rm_set_force_position] set_state: true

[20240707 06:31:50]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:31:50]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:50]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:50]: [rm_movel] receive_state: true

[20240707 06:31:51]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:31:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:51]: [rm_movel] receive_state: true

[20240707 06:31:52]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:31:52]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:31:52]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:31:52]: send is: {"command":"stop_force_position"}


[20240707 06:31:52]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:31:52]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:31:52]: [rm_stop_force_position] stop_state: true

[20240707 06:31:52]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:31:52]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:31:52]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:31:52]: [rm_set_force_position] set_state: true

[20240707 06:31:52]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:31:52]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:52]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:52]: [rm_movel] receive_state: true

[20240707 06:31:53]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:31:53]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:31:53]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:31:53]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:31:53]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:53]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:53]: [rm_movel] receive_state: true

[20240707 06:31:54]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:31:54]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:31:54]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:31:54]: send is: {"command":"stop_force_position"}


[20240707 06:31:54]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:31:54]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:31:54]: [rm_stop_force_position] stop_state: true

[20240707 06:31:54]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:31:54]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:31:54]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:31:54]: [rm_set_force_position] set_state: true

[20240707 06:31:54]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:31:54]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:54]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:54]: [rm_movel] receive_state: true

[20240707 06:31:55]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:31:55]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:31:55]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:31:55]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:31:55]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:31:55]: thread_socket_receive len 139 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:55]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:31:55]: [rm_movel] receive_state: true

[20240707 06:31:56]: send is: {"command":"stop_force_position"}


[20240707 06:31:56]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:31:56]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:31:56]: [rm_stop_force_position] stop_state: true

[20240707 06:33:46] Begin API Testing.
[20240707 06:33:46]: send is: {"command":"get_arm_software_info"}


[20240707 06:33:46]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:33:46]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:33:46]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 06:33:46]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 06:33:46]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 06:33:46]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 06:33:46]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 06:33:46]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 06:33:46]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 06:33:46]: send is: {"command":"get_realtime_push"}


[20240707 06:33:46]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:33:46]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:33:46]: [rm_get_realtime_push] cycle parse result: 5

[20240707 06:33:46]: [rm_get_realtime_push] port parse result: 8089

[20240707 06:33:46]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 06:33:46]: [rm_get_realtime_push] enable parse result: 1

[20240707 06:33:46]: send is: {"command":"get_current_work_frame"}


[20240707 06:33:46]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:33:46]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:33:46]: [get_current_work_frame] Work frame Name: World

[20240707 06:33:46]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:33:46]: send is: {"command":"get_current_tool_frame"}


[20240707 06:33:46]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:33:46]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:33:46]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 06:33:46]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:33:46]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 06:33:46]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 06:33:46]: send is: {"command":"get_install_pose"}


[20240707 06:33:46]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:33:46]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:33:46]: [rm_get_install_pose] pose parse result:

[20240707 06:33:46]:  0

[20240707 06:33:46]:  0

[20240707 06:33:46]:  0

[20240707 06:33:46]: send is: {"command":"get_joint_min_pos"}


[20240707 06:33:46]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:33:46]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:33:46]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 06:33:46]:  -178000

[20240707 06:33:46]:  -130000

[20240707 06:33:46]:  -135000

[20240707 06:33:46]:  -178000

[20240707 06:33:46]:  -128000

[20240707 06:33:46]:  -360000

[20240707 06:33:46]: send is: {"command":"get_joint_max_pos"}


[20240707 06:33:46]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:33:46]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:33:46]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 06:33:46]:  178000

[20240707 06:33:46]:  130000

[20240707 06:33:46]:  135000

[20240707 06:33:46]:  178000

[20240707 06:33:46]:  128000

[20240707 06:33:46]:  360000

[20240707 06:33:46]: send is: {"command":"get_joint_max_acc"}


[20240707 06:33:46]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:33:46]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:33:46]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 06:33:46]:  100000

[20240707 06:33:46]:  100000

[20240707 06:33:46]:  100000

[20240707 06:33:46]:  100000

[20240707 06:33:46]:  100000

[20240707 06:33:46]:  100000

[20240707 06:33:46]: send is: {"command":"get_joint_max_speed"}


[20240707 06:33:46]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:33:46]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:33:46]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 06:33:46]:  30000

[20240707 06:33:46]:  30000

[20240707 06:33:46]:  37500

[20240707 06:33:46]:  37500

[20240707 06:33:46]:  37500

[20240707 06:33:46]:  37500

[20240707 06:33:46]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 06:33:46]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:33:46]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:33:46]: [rm_movej] receive_state: true

[20240707 06:33:47]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:33:47]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:33:47]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:33:47]: [rm_movej_p] receive_state: true

[20240707 06:33:51]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:33:51]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:33:51]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:33:51]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:33:51]: [rm_set_force_position] set_state: true

[20240707 06:33:51]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:33:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:33:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:33:51]: [rm_movel] receive_state: true

[20240707 06:33:52]: send is: {"command":"movel","v":60,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:33:52]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:33:52]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:33:52]: [rm_movel] receive_state: true

[20240707 06:33:52]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:33:52]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:33:52]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:33:52]: send is: {"command":"stop_force_position"}


[20240707 06:33:52]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:33:52]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:33:52]: [rm_stop_force_position] stop_state: true

[20240707 06:33:52]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:33:52]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:33:52]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:33:52]: [rm_set_force_position] set_state: true

[20240707 06:33:52]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:33:52]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:33:52]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:33:52]: [rm_movel] receive_state: true

[20240707 06:33:53]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:33:53]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:33:53]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:33:53]: send is: {"command":"movel","v":60,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:33:53]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:33:53]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:33:53]: [rm_movel] receive_state: true

[20240707 06:33:54]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:33:54]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:33:54]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:33:54]: send is: {"command":"stop_force_position"}


[20240707 06:33:54]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:33:54]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:33:54]: [rm_stop_force_position] stop_state: true

[20240707 06:33:54]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:33:54]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:33:54]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:33:54]: [rm_set_force_position] set_state: true

[20240707 06:33:54]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:33:54]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:33:54]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:33:54]: [rm_movel] receive_state: true

[20240707 06:33:55]: send is: {"command":"movel","v":60,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:33:55]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:33:55]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:33:55]: [rm_movel] receive_state: true

[20240707 06:33:56]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:33:56]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:33:56]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:33:56]: send is: {"command":"stop_force_position"}


[20240707 06:33:56]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:33:56]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:33:56]: [rm_stop_force_position] stop_state: true

[20240707 06:34:16] Begin API Testing.
[20240707 06:34:16]: send is: {"command":"get_arm_software_info"}


[20240707 06:34:16]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:34:16]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:34:16]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 06:34:16]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 06:34:16]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 06:34:16]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 06:34:16]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 06:34:16]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 06:34:16]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 06:34:16]: send is: {"command":"get_realtime_push"}


[20240707 06:34:16]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:34:16]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:34:16]: [rm_get_realtime_push] cycle parse result: 5

[20240707 06:34:16]: [rm_get_realtime_push] port parse result: 8089

[20240707 06:34:16]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 06:34:16]: [rm_get_realtime_push] enable parse result: 1

[20240707 06:34:16]: send is: {"command":"get_current_work_frame"}


[20240707 06:34:16]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:34:16]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:34:16]: [get_current_work_frame] Work frame Name: World

[20240707 06:34:16]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:34:16]: send is: {"command":"get_current_tool_frame"}


[20240707 06:34:16]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:34:16]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:34:16]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 06:34:16]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:34:16]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 06:34:16]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 06:34:16]: send is: {"command":"get_install_pose"}


[20240707 06:34:16]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:34:16]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:34:16]: [rm_get_install_pose] pose parse result:

[20240707 06:34:16]:  0

[20240707 06:34:16]:  0

[20240707 06:34:16]:  0

[20240707 06:34:16]: send is: {"command":"get_joint_min_pos"}


[20240707 06:34:16]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:34:16]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:34:16]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 06:34:16]:  -178000

[20240707 06:34:16]:  -130000

[20240707 06:34:16]:  -135000

[20240707 06:34:16]:  -178000

[20240707 06:34:16]:  -128000

[20240707 06:34:16]:  -360000

[20240707 06:34:16]: send is: {"command":"get_joint_max_pos"}


[20240707 06:34:16]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:34:16]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:34:16]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 06:34:16]:  178000

[20240707 06:34:16]:  130000

[20240707 06:34:16]:  135000

[20240707 06:34:16]:  178000

[20240707 06:34:16]:  128000

[20240707 06:34:16]:  360000

[20240707 06:34:16]: send is: {"command":"get_joint_max_acc"}


[20240707 06:34:16]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:34:16]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:34:16]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 06:34:16]:  100000

[20240707 06:34:16]:  100000

[20240707 06:34:16]:  100000

[20240707 06:34:16]:  100000

[20240707 06:34:16]:  100000

[20240707 06:34:16]:  100000

[20240707 06:34:16]: send is: {"command":"get_joint_max_speed"}


[20240707 06:34:16]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:34:16]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:34:16]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 06:34:16]:  30000

[20240707 06:34:16]:  30000

[20240707 06:34:16]:  37500

[20240707 06:34:16]:  37500

[20240707 06:34:16]:  37500

[20240707 06:34:16]:  37500

[20240707 06:34:16]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 06:34:16]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:34:16]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:34:16]: [rm_movej] receive_state: true

[20240707 06:34:17]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:34:17]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:34:17]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:34:17]: [rm_movej_p] receive_state: true

[20240707 06:34:21]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:34:21]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:34:21]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:34:21]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:34:21]: [rm_set_force_position] set_state: true

[20240707 06:34:21]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:34:21]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:34:21]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:34:21]: [rm_movel] receive_state: true

[20240707 06:34:22]: send is: {"command":"movel","v":70,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:34:22]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:34:22]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:34:22]: [rm_movel] receive_state: true

[20240707 06:34:22]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:34:22]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:34:22]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:34:22]: send is: {"command":"stop_force_position"}


[20240707 06:34:22]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:34:22]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:34:22]: [rm_stop_force_position] stop_state: true

[20240707 06:34:22]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:34:22]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:34:22]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:34:22]: [rm_set_force_position] set_state: true

[20240707 06:34:22]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:34:22]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:34:22]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:34:22]: [rm_movel] receive_state: true

[20240707 06:34:23]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:34:23]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:34:23]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:34:23]: send is: {"command":"movel","v":70,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:34:23]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:34:23]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:34:23]: [rm_movel] receive_state: true

[20240707 06:34:24]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:34:24]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:34:24]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:34:24]: send is: {"command":"stop_force_position"}


[20240707 06:34:24]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:34:24]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:34:24]: [rm_stop_force_position] stop_state: true

[20240707 06:34:24]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:34:24]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:34:24]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:34:24]: [rm_set_force_position] set_state: true

[20240707 06:34:24]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:34:24]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:34:24]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:34:24]: [rm_movel] receive_state: true

[20240707 06:34:26]: send is: {"command":"movel","v":70,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:34:26]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:34:26]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:34:26]: [rm_movel] receive_state: true

[20240707 06:34:26]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:34:26]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:34:26]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:34:26]: send is: {"command":"stop_force_position"}


[20240707 06:34:26]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:34:26]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:34:26]: [rm_stop_force_position] stop_state: true

[20240707 06:35:13] Begin API Testing.
[20240707 06:35:13]: send is: {"command":"get_arm_software_info"}


[20240707 06:35:13]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:35:13]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:35:13]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 06:35:13]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 06:35:13]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 06:35:13]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 06:35:13]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 06:35:13]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 06:35:13]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 06:35:13]: send is: {"command":"get_realtime_push"}


[20240707 06:35:13]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:35:13]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:35:13]: [rm_get_realtime_push] cycle parse result: 5

[20240707 06:35:13]: [rm_get_realtime_push] port parse result: 8089

[20240707 06:35:13]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 06:35:13]: [rm_get_realtime_push] enable parse result: 1

[20240707 06:35:13]: send is: {"command":"get_current_work_frame"}


[20240707 06:35:13]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:35:13]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:35:13]: [get_current_work_frame] Work frame Name: World

[20240707 06:35:13]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:35:13]: send is: {"command":"get_current_tool_frame"}


[20240707 06:35:13]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:35:13]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:35:13]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 06:35:13]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:35:13]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 06:35:13]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 06:35:13]: send is: {"command":"get_install_pose"}


[20240707 06:35:13]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:35:13]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:35:13]: [rm_get_install_pose] pose parse result:

[20240707 06:35:13]:  0

[20240707 06:35:13]:  0

[20240707 06:35:13]:  0

[20240707 06:35:13]: send is: {"command":"get_joint_min_pos"}


[20240707 06:35:13]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:35:13]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:35:13]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 06:35:13]:  -178000

[20240707 06:35:13]:  -130000

[20240707 06:35:13]:  -135000

[20240707 06:35:13]:  -178000

[20240707 06:35:13]:  -128000

[20240707 06:35:13]:  -360000

[20240707 06:35:13]: send is: {"command":"get_joint_max_pos"}


[20240707 06:35:13]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:35:13]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:35:13]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 06:35:13]:  178000

[20240707 06:35:13]:  130000

[20240707 06:35:13]:  135000

[20240707 06:35:13]:  178000

[20240707 06:35:13]:  128000

[20240707 06:35:13]:  360000

[20240707 06:35:13]: send is: {"command":"get_joint_max_acc"}


[20240707 06:35:13]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:35:13]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:35:13]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 06:35:13]:  100000

[20240707 06:35:13]:  100000

[20240707 06:35:13]:  100000

[20240707 06:35:13]:  100000

[20240707 06:35:13]:  100000

[20240707 06:35:13]:  100000

[20240707 06:35:13]: send is: {"command":"get_joint_max_speed"}


[20240707 06:35:13]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:35:13]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:35:13]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 06:35:13]:  30000

[20240707 06:35:13]:  30000

[20240707 06:35:13]:  37500

[20240707 06:35:13]:  37500

[20240707 06:35:13]:  37500

[20240707 06:35:13]:  37500

[20240707 06:35:13]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 06:35:13]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:35:13]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:35:13]: [rm_movej] receive_state: true

[20240707 06:35:14]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:35:14]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:35:14]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:35:14]: [rm_movej_p] receive_state: true

[20240707 06:35:17]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:35:17]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:35:17]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:35:17]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:35:17]: [rm_set_force_position] set_state: true

[20240707 06:35:17]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:35:17]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:35:17]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:35:17]: [rm_movel] receive_state: true

[20240707 06:35:18]: thread_socket_receive len 46 robot_handle: 1 message:{"command":"get_teach_frame","frame_type":0}


[20240707 06:35:19]: send is: {"command":"movel","v":70,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:35:19]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:35:19]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:35:19]: [rm_movel] receive_state: true

[20240707 06:35:19]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:35:19]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:35:19]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:35:19]: send is: {"command":"stop_force_position"}


[20240707 06:35:19]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:35:19]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:35:19]: [rm_stop_force_position] stop_state: true

[20240707 06:35:19]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:35:19]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:35:19]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:35:19]: [rm_set_force_position] set_state: true

[20240707 06:35:19]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:35:19]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:35:19]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:35:19]: [rm_movel] receive_state: true

[20240707 06:35:20]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:35:20]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:35:20]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:35:20]: send is: {"command":"movel","v":70,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:35:20]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:35:20]: thread_socket_receive len 139 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:35:20]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:35:20]: [rm_movel] receive_state: true

[20240707 06:35:21]: send is: {"command":"stop_force_position"}


[20240707 06:35:21]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:35:21]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:35:21]: [rm_stop_force_position] stop_state: true

[20240707 06:35:21]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:35:21]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:35:21]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:35:21]: [rm_set_force_position] set_state: true

[20240707 06:35:21]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:35:21]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:35:21]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:35:21]: [rm_movel] receive_state: true

[20240707 06:35:22]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:35:22]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:35:22]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:35:22]: send is: {"command":"movel","v":70,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:35:22]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:35:22]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:35:22]: [rm_movel] receive_state: true

[20240707 06:35:23]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:35:23]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:35:23]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:35:23]: send is: {"command":"stop_force_position"}


[20240707 06:35:23]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:35:23]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:35:23]: [rm_stop_force_position] stop_state: true

[20240707 06:36:27] Begin API Testing.
[20240707 06:36:27]: send is: {"command":"get_arm_software_info"}


[20240707 06:36:27]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:36:27]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:36:27]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 06:36:27]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 06:36:27]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 06:36:27]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 06:36:27]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 06:36:27]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 06:36:27]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 06:36:27]: send is: {"command":"get_realtime_push"}


[20240707 06:36:27]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:36:27]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:36:27]: [rm_get_realtime_push] cycle parse result: 5

[20240707 06:36:27]: [rm_get_realtime_push] port parse result: 8089

[20240707 06:36:27]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 06:36:27]: [rm_get_realtime_push] enable parse result: 1

[20240707 06:36:27]: send is: {"command":"get_current_work_frame"}


[20240707 06:36:27]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:36:27]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:36:27]: [get_current_work_frame] Work frame Name: World

[20240707 06:36:27]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:36:27]: send is: {"command":"get_current_tool_frame"}


[20240707 06:36:27]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:36:27]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:36:27]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 06:36:27]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:36:27]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 06:36:27]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 06:36:27]: send is: {"command":"get_install_pose"}


[20240707 06:36:27]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:36:27]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:36:27]: [rm_get_install_pose] pose parse result:

[20240707 06:36:27]:  0

[20240707 06:36:27]:  0

[20240707 06:36:27]:  0

[20240707 06:36:27]: send is: {"command":"get_joint_min_pos"}


[20240707 06:36:27]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:36:27]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:36:27]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 06:36:27]:  -178000

[20240707 06:36:27]:  -130000

[20240707 06:36:27]:  -135000

[20240707 06:36:27]:  -178000

[20240707 06:36:27]:  -128000

[20240707 06:36:27]:  -360000

[20240707 06:36:27]: send is: {"command":"get_joint_max_pos"}


[20240707 06:36:27]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:36:27]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:36:27]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 06:36:27]:  178000

[20240707 06:36:27]:  130000

[20240707 06:36:27]:  135000

[20240707 06:36:27]:  178000

[20240707 06:36:27]:  128000

[20240707 06:36:27]:  360000

[20240707 06:36:27]: send is: {"command":"get_joint_max_acc"}


[20240707 06:36:27]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:36:27]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:36:27]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 06:36:27]:  100000

[20240707 06:36:27]:  100000

[20240707 06:36:27]:  100000

[20240707 06:36:27]:  100000

[20240707 06:36:27]:  100000

[20240707 06:36:27]:  100000

[20240707 06:36:27]: send is: {"command":"get_joint_max_speed"}


[20240707 06:36:27]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:36:27]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:36:27]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 06:36:27]:  30000

[20240707 06:36:27]:  30000

[20240707 06:36:27]:  37500

[20240707 06:36:27]:  37500

[20240707 06:36:27]:  37500

[20240707 06:36:27]:  37500

[20240707 06:36:27]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 06:36:27]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:36:27]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:36:27]: [rm_movej] receive_state: true

[20240707 06:36:28]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:36:28]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:36:28]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:36:28]: [rm_movej_p] receive_state: true

[20240707 06:36:29]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:36:29]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:36:29]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:36:31]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:36:31]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:36:31]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:36:31]: [rm_set_force_position] set_state: true

[20240707 06:36:31]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:36:31]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:36:31]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:36:31]: [rm_movel] receive_state: true

[20240707 06:36:33]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:36:33]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:36:33]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:36:33]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:36:33]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:36:33]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:36:33]: [rm_movel] receive_state: true

[20240707 06:36:34]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:36:34]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:36:34]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:36:34]: send is: {"command":"stop_force_position"}


[20240707 06:36:34]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:36:34]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:36:34]: [rm_stop_force_position] stop_state: true

[20240707 06:36:34]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:36:34]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:36:34]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:36:34]: [rm_set_force_position] set_state: true

[20240707 06:36:34]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:36:34]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:36:34]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:36:34]: [rm_movel] receive_state: true

[20240707 06:36:35]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:36:35]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:36:35]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:36:35]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:36:35]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:36:35]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:36:35]: [rm_movel] receive_state: true

[20240707 06:36:35]: thread_socket_receive len 194 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:36:35]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:36:35]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:36:35]: send is: {"command":"stop_force_position"}


[20240707 06:36:35]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:36:35]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:36:35]: [rm_stop_force_position] stop_state: true

[20240707 06:36:35]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:36:35]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:36:35]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:36:35]: [rm_set_force_position] set_state: true

[20240707 06:36:35]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:36:35]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:36:35]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:36:35]: [rm_movel] receive_state: true

[20240707 06:36:36]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:36:36]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:36:36]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 06:36:36]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 06:36:36]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:36:36]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:36:36]: [rm_movel] receive_state: true

[20240707 06:36:37]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:36:37]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 06:36:37]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 06:36:37]: send is: {"command":"stop_force_position"}


[20240707 06:36:37]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:36:37]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:36:37]: [rm_stop_force_position] stop_state: true

[20240707 06:47:57] Begin API Testing.
[20240707 06:47:57]: send is: {"command":"get_arm_software_info"}


[20240707 06:47:57]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:47:57]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:47:57]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 06:47:57]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 06:47:57]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 06:47:57]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 06:47:57]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 06:47:57]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 06:47:57]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 06:47:57]: send is: {"command":"get_realtime_push"}


[20240707 06:47:57]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:47:57]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:47:57]: [rm_get_realtime_push] cycle parse result: 5

[20240707 06:47:57]: [rm_get_realtime_push] port parse result: 8089

[20240707 06:47:57]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 06:47:57]: [rm_get_realtime_push] enable parse result: 1

[20240707 06:47:57]: send is: {"command":"get_current_work_frame"}


[20240707 06:47:57]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:47:57]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:47:57]: [get_current_work_frame] Work frame Name: World

[20240707 06:47:57]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:47:57]: send is: {"command":"get_current_tool_frame"}


[20240707 06:47:57]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:47:57]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:47:57]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 06:47:57]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:47:57]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 06:47:57]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 06:47:57]: send is: {"command":"get_install_pose"}


[20240707 06:47:57]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:47:57]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:47:57]: [rm_get_install_pose] pose parse result:

[20240707 06:47:57]:  0

[20240707 06:47:57]:  0

[20240707 06:47:57]:  0

[20240707 06:47:57]: send is: {"command":"get_joint_min_pos"}


[20240707 06:47:57]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:47:57]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:47:57]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 06:47:57]:  -178000

[20240707 06:47:57]:  -130000

[20240707 06:47:57]:  -135000

[20240707 06:47:57]:  -178000

[20240707 06:47:57]:  -128000

[20240707 06:47:57]:  -360000

[20240707 06:47:57]: send is: {"command":"get_joint_max_pos"}


[20240707 06:47:57]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:47:57]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:47:57]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 06:47:57]:  178000

[20240707 06:47:57]:  130000

[20240707 06:47:57]:  135000

[20240707 06:47:57]:  178000

[20240707 06:47:57]:  128000

[20240707 06:47:57]:  360000

[20240707 06:47:57]: send is: {"command":"get_joint_max_acc"}


[20240707 06:47:57]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:47:57]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:47:57]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 06:47:57]:  100000

[20240707 06:47:57]:  100000

[20240707 06:47:57]:  100000

[20240707 06:47:57]:  100000

[20240707 06:47:57]:  100000

[20240707 06:47:57]:  100000

[20240707 06:47:57]: send is: {"command":"get_joint_max_speed"}


[20240707 06:47:57]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:47:57]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:47:57]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 06:47:57]:  30000

[20240707 06:47:57]:  30000

[20240707 06:47:57]:  37500

[20240707 06:47:57]:  37500

[20240707 06:47:57]:  37500

[20240707 06:47:57]:  37500

[20240707 06:47:57]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 06:47:57]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:47:57]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:47:57]: [rm_movej] receive_state: true

[20240707 06:48:00]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 06:48:00]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:48:00]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:48:00]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:48:00]: [rm_movej_p] receive_state: true

[20240707 06:48:02]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:48:02]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:48:02]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:48:02]: [rm_set_force_position] set_state: true

[20240707 06:48:02]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 06:48:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:48:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:48:02]: [rm_movel] receive_state: true

[20240707 06:48:02]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 06:48:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:48:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:48:02]: [rm_movel] receive_state: true

[20240707 06:48:02]: send is: {"command":"stop_force_position"}


[20240707 06:48:02]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:48:02]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:48:02]: [rm_stop_force_position] stop_state: true

[20240707 06:48:02]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:48:02]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:48:02]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:48:02]: [rm_set_force_position] set_state: true

[20240707 06:48:02]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 06:48:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:48:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:48:02]: [rm_movel] receive_state: true

[20240707 06:48:02]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 06:48:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:48:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:48:02]: [rm_movel] receive_state: true

[20240707 06:48:02]: send is: {"command":"stop_force_position"}


[20240707 06:48:02]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:48:02]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:48:02]: [rm_stop_force_position] stop_state: true

[20240707 06:48:02]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:48:02]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:48:02]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:48:02]: [rm_set_force_position] set_state: true

[20240707 06:48:02]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 06:48:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:48:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:48:02]: [rm_movel] receive_state: true

[20240707 06:48:02]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 06:48:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:48:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:48:02]: [rm_movel] receive_state: true

[20240707 06:48:02]: send is: {"command":"stop_force_position"}


[20240707 06:48:02]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:48:02]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:48:02]: [rm_stop_force_position] stop_state: true

[20240707 06:48:20] Begin API Testing.
[20240707 06:48:20]: send is: {"command":"get_arm_software_info"}


[20240707 06:48:20]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:48:20]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:48:20]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 06:48:20]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 06:48:20]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 06:48:20]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 06:48:20]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 06:48:20]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 06:48:20]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 06:48:20]: send is: {"command":"get_realtime_push"}


[20240707 06:48:20]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:48:20]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:48:20]: [rm_get_realtime_push] cycle parse result: 5

[20240707 06:48:20]: [rm_get_realtime_push] port parse result: 8089

[20240707 06:48:20]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 06:48:20]: [rm_get_realtime_push] enable parse result: 1

[20240707 06:48:20]: send is: {"command":"get_current_work_frame"}


[20240707 06:48:20]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:48:20]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:48:20]: [get_current_work_frame] Work frame Name: World

[20240707 06:48:20]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:48:20]: send is: {"command":"get_current_tool_frame"}


[20240707 06:48:20]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:48:20]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:48:20]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 06:48:20]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:48:20]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 06:48:20]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 06:48:20]: send is: {"command":"get_install_pose"}


[20240707 06:48:20]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:48:20]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:48:20]: [rm_get_install_pose] pose parse result:

[20240707 06:48:20]:  0

[20240707 06:48:20]:  0

[20240707 06:48:20]:  0

[20240707 06:48:20]: send is: {"command":"get_joint_min_pos"}


[20240707 06:48:20]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:48:20]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:48:20]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 06:48:20]:  -178000

[20240707 06:48:20]:  -130000

[20240707 06:48:20]:  -135000

[20240707 06:48:20]:  -178000

[20240707 06:48:20]:  -128000

[20240707 06:48:20]:  -360000

[20240707 06:48:20]: send is: {"command":"get_joint_max_pos"}


[20240707 06:48:20]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:48:20]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:48:20]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 06:48:20]:  178000

[20240707 06:48:20]:  130000

[20240707 06:48:20]:  135000

[20240707 06:48:20]:  178000

[20240707 06:48:20]:  128000

[20240707 06:48:20]:  360000

[20240707 06:48:20]: send is: {"command":"get_joint_max_acc"}


[20240707 06:48:20]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:48:20]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:48:20]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 06:48:20]:  100000

[20240707 06:48:20]:  100000

[20240707 06:48:20]:  100000

[20240707 06:48:20]:  100000

[20240707 06:48:20]:  100000

[20240707 06:48:20]:  100000

[20240707 06:48:20]: send is: {"command":"get_joint_max_speed"}


[20240707 06:48:20]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:48:20]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:48:20]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 06:48:20]:  30000

[20240707 06:48:20]:  30000

[20240707 06:48:20]:  37500

[20240707 06:48:20]:  37500

[20240707 06:48:20]:  37500

[20240707 06:48:20]:  37500

[20240707 06:48:20]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 06:48:20]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:48:20]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:48:20]: [rm_movej] receive_state: true

[20240707 06:48:23]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 06:48:23]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:48:23]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:48:23]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:48:23]: [rm_movej_p] receive_state: true

[20240707 06:48:25]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:48:25]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:48:25]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:48:25]: [rm_set_force_position] set_state: true

[20240707 06:48:25]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 06:48:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:48:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:48:25]: [rm_movel] receive_state: true

[20240707 06:48:25]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 06:48:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:48:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:48:25]: [rm_movel] receive_state: true

[20240707 06:48:25]: send is: {"command":"stop_force_position"}


[20240707 06:48:25]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:48:25]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:48:25]: [rm_stop_force_position] stop_state: true

[20240707 06:48:25]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:48:25]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:48:25]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:48:25]: [rm_set_force_position] set_state: true

[20240707 06:48:25]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 06:48:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:48:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:48:25]: [rm_movel] receive_state: true

[20240707 06:48:25]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 06:48:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:48:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:48:25]: [rm_movel] receive_state: true

[20240707 06:48:25]: send is: {"command":"stop_force_position"}


[20240707 06:48:25]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:48:25]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:48:25]: [rm_stop_force_position] stop_state: true

[20240707 06:48:25]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:48:25]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:48:25]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:48:25]: [rm_set_force_position] set_state: true

[20240707 06:48:25]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 06:48:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:48:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:48:25]: [rm_movel] receive_state: true

[20240707 06:48:25]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 06:48:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:48:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:48:25]: [rm_movel] receive_state: true

[20240707 06:48:25]: send is: {"command":"stop_force_position"}


[20240707 06:48:25]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:48:25]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:48:25]: [rm_stop_force_position] stop_state: true

[20240707 06:58:46] Begin API Testing.
[20240707 06:58:46]: send is: {"command":"get_arm_software_info"}


[20240707 06:58:46]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:58:46]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:58:46]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 06:58:46]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 06:58:46]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 06:58:46]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 06:58:46]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 06:58:46]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 06:58:46]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 06:58:46]: send is: {"command":"get_realtime_push"}


[20240707 06:58:46]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:58:46]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:58:46]: [rm_get_realtime_push] cycle parse result: 5

[20240707 06:58:46]: [rm_get_realtime_push] port parse result: 8089

[20240707 06:58:46]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 06:58:46]: [rm_get_realtime_push] enable parse result: 1

[20240707 06:58:46]: send is: {"command":"get_current_work_frame"}


[20240707 06:58:46]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:58:46]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:58:46]: [get_current_work_frame] Work frame Name: World

[20240707 06:58:46]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:58:46]: send is: {"command":"get_current_tool_frame"}


[20240707 06:58:46]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:58:46]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:58:46]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 06:58:46]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:58:46]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 06:58:46]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 06:58:46]: send is: {"command":"get_install_pose"}


[20240707 06:58:46]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:58:46]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:58:46]: [rm_get_install_pose] pose parse result:

[20240707 06:58:46]:  0

[20240707 06:58:46]:  0

[20240707 06:58:46]:  0

[20240707 06:58:46]: send is: {"command":"get_joint_min_pos"}


[20240707 06:58:46]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:58:46]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:58:46]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 06:58:46]:  -178000

[20240707 06:58:46]:  -130000

[20240707 06:58:46]:  -135000

[20240707 06:58:46]:  -178000

[20240707 06:58:46]:  -128000

[20240707 06:58:46]:  -360000

[20240707 06:58:46]: send is: {"command":"get_joint_max_pos"}


[20240707 06:58:46]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:58:46]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:58:46]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 06:58:46]:  178000

[20240707 06:58:46]:  130000

[20240707 06:58:46]:  135000

[20240707 06:58:46]:  178000

[20240707 06:58:46]:  128000

[20240707 06:58:46]:  360000

[20240707 06:58:46]: send is: {"command":"get_joint_max_acc"}


[20240707 06:58:46]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:58:46]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:58:46]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 06:58:46]:  100000

[20240707 06:58:46]:  100000

[20240707 06:58:46]:  100000

[20240707 06:58:46]:  100000

[20240707 06:58:46]:  100000

[20240707 06:58:46]:  100000

[20240707 06:58:46]: send is: {"command":"get_joint_max_speed"}


[20240707 06:58:46]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:58:46]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:58:46]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 06:58:46]:  30000

[20240707 06:58:46]:  30000

[20240707 06:58:46]:  37500

[20240707 06:58:46]:  37500

[20240707 06:58:46]:  37500

[20240707 06:58:46]:  37500

[20240707 06:58:54]: send is: {"command":"get_current_arm_state"}


[20240707 06:58:54]: thread_socket_receive len 147 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[28,-23429,-47500,-64,-109179,-17],"pose":[299991,-2,400003,3140,1,0],"sys_err":0},"state":"current_arm_state"}


[20240707 06:58:54]: thread_socket_receive len 147 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[28,-23429,-47500,-64,-109179,-17],"pose":[299991,-2,400003,3140,1,0],"sys_err":0},"state":"current_arm_state"}


[20240707 06:58:54]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 06:58:54]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 06:58:54]: [rm_get_current_arm_state] joint parse result:

[20240707 06:58:54]:  28

[20240707 06:58:54]:  -23429

[20240707 06:58:54]:  -47500

[20240707 06:58:54]:  -64

[20240707 06:58:54]:  -109179

[20240707 06:58:54]:  -17

[20240707 06:58:54]: [rm_get_current_arm_state] pose parse result:

[20240707 06:58:54]:  299991

[20240707 06:58:54]:  -2

[20240707 06:58:54]:  400003

[20240707 06:58:54]:  3140

[20240707 06:58:54]:  1

[20240707 06:58:54]:  0

[20240707 06:59:33] Begin API Testing.
[20240707 06:59:33]: send is: {"command":"get_arm_software_info"}


[20240707 06:59:33]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:59:33]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:59:33]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 06:59:33]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 06:59:33]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 06:59:33]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 06:59:33]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 06:59:33]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 06:59:33]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 06:59:33]: send is: {"command":"get_realtime_push"}


[20240707 06:59:33]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:59:33]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:59:33]: [rm_get_realtime_push] cycle parse result: 5

[20240707 06:59:33]: [rm_get_realtime_push] port parse result: 8089

[20240707 06:59:33]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 06:59:33]: [rm_get_realtime_push] enable parse result: 1

[20240707 06:59:33]: send is: {"command":"get_current_work_frame"}


[20240707 06:59:33]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:59:33]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:59:33]: [get_current_work_frame] Work frame Name: World

[20240707 06:59:33]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:59:33]: send is: {"command":"get_current_tool_frame"}


[20240707 06:59:33]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:59:33]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:59:33]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 06:59:33]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:59:33]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 06:59:33]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 06:59:33]: send is: {"command":"get_install_pose"}


[20240707 06:59:33]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:59:33]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:59:33]: [rm_get_install_pose] pose parse result:

[20240707 06:59:33]:  0

[20240707 06:59:33]:  0

[20240707 06:59:33]:  0

[20240707 06:59:33]: send is: {"command":"get_joint_min_pos"}


[20240707 06:59:33]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:59:33]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:59:33]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 06:59:33]:  -178000

[20240707 06:59:33]:  -130000

[20240707 06:59:33]:  -135000

[20240707 06:59:33]:  -178000

[20240707 06:59:33]:  -128000

[20240707 06:59:33]:  -360000

[20240707 06:59:33]: send is: {"command":"get_joint_max_pos"}


[20240707 06:59:33]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:59:33]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:59:33]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 06:59:33]:  178000

[20240707 06:59:33]:  130000

[20240707 06:59:33]:  135000

[20240707 06:59:33]:  178000

[20240707 06:59:33]:  128000

[20240707 06:59:33]:  360000

[20240707 06:59:33]: send is: {"command":"get_joint_max_acc"}


[20240707 06:59:33]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:59:33]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:59:33]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 06:59:33]:  100000

[20240707 06:59:33]:  100000

[20240707 06:59:33]:  100000

[20240707 06:59:33]:  100000

[20240707 06:59:33]:  100000

[20240707 06:59:33]:  100000

[20240707 06:59:33]: send is: {"command":"get_joint_max_speed"}


[20240707 06:59:33]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:59:33]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:59:33]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 06:59:33]:  30000

[20240707 06:59:33]:  30000

[20240707 06:59:33]:  37500

[20240707 06:59:33]:  37500

[20240707 06:59:33]:  37500

[20240707 06:59:33]:  37500

[20240707 06:59:35]: send is: {"command":"get_current_arm_state"}


[20240707 06:59:35]: thread_socket_receive len 147 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[31,-23431,-47502,-63,-109176,-17],"pose":[300000,15,399991,3140,1,0],"sys_err":0},"state":"current_arm_state"}


[20240707 06:59:35]: thread_socket_receive len 147 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[31,-23431,-47502,-63,-109176,-17],"pose":[300000,15,399991,3140,1,0],"sys_err":0},"state":"current_arm_state"}


[20240707 06:59:35]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 06:59:35]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 06:59:35]: [rm_get_current_arm_state] joint parse result:

[20240707 06:59:35]:  31

[20240707 06:59:35]:  -23431

[20240707 06:59:35]:  -47502

[20240707 06:59:35]:  -63

[20240707 06:59:35]:  -109176

[20240707 06:59:35]:  -17

[20240707 06:59:35]: [rm_get_current_arm_state] pose parse result:

[20240707 06:59:35]:  300000

[20240707 06:59:35]:  15

[20240707 06:59:35]:  399991

[20240707 06:59:35]:  3140

[20240707 06:59:35]:  1

[20240707 06:59:35]:  0

[20240707 06:59:52] Begin API Testing.
[20240707 06:59:52]: send is: {"command":"get_arm_software_info"}


[20240707 06:59:52]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:59:52]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 06:59:52]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 06:59:52]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 06:59:52]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 06:59:52]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 06:59:52]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 06:59:52]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 06:59:52]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 06:59:52]: send is: {"command":"get_realtime_push"}


[20240707 06:59:52]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:59:52]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 06:59:52]: [rm_get_realtime_push] cycle parse result: 5

[20240707 06:59:52]: [rm_get_realtime_push] port parse result: 8089

[20240707 06:59:52]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 06:59:52]: [rm_get_realtime_push] enable parse result: 1

[20240707 06:59:52]: send is: {"command":"get_current_work_frame"}


[20240707 06:59:52]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:59:52]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 06:59:52]: [get_current_work_frame] Work frame Name: World

[20240707 06:59:52]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:59:52]: send is: {"command":"get_current_tool_frame"}


[20240707 06:59:52]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:59:52]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 06:59:52]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 06:59:52]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 06:59:52]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 06:59:52]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 06:59:52]: send is: {"command":"get_install_pose"}


[20240707 06:59:52]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:59:52]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 06:59:52]: [rm_get_install_pose] pose parse result:

[20240707 06:59:52]:  0

[20240707 06:59:52]:  0

[20240707 06:59:52]:  0

[20240707 06:59:52]: send is: {"command":"get_joint_min_pos"}


[20240707 06:59:52]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:59:52]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 06:59:52]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 06:59:52]:  -178000

[20240707 06:59:52]:  -130000

[20240707 06:59:52]:  -135000

[20240707 06:59:52]:  -178000

[20240707 06:59:52]:  -128000

[20240707 06:59:52]:  -360000

[20240707 06:59:52]: send is: {"command":"get_joint_max_pos"}


[20240707 06:59:52]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:59:52]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 06:59:52]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 06:59:52]:  178000

[20240707 06:59:52]:  130000

[20240707 06:59:52]:  135000

[20240707 06:59:52]:  178000

[20240707 06:59:52]:  128000

[20240707 06:59:52]:  360000

[20240707 06:59:52]: send is: {"command":"get_joint_max_acc"}


[20240707 06:59:52]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:59:52]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 06:59:52]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 06:59:52]:  100000

[20240707 06:59:52]:  100000

[20240707 06:59:52]:  100000

[20240707 06:59:52]:  100000

[20240707 06:59:52]:  100000

[20240707 06:59:52]:  100000

[20240707 06:59:52]: send is: {"command":"get_joint_max_speed"}


[20240707 06:59:52]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:59:52]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 06:59:52]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 06:59:52]:  30000

[20240707 06:59:52]:  30000

[20240707 06:59:52]:  37500

[20240707 06:59:52]:  37500

[20240707 06:59:52]:  37500

[20240707 06:59:52]:  37500

[20240707 06:59:52]: send is: {"command":"get_current_arm_state"}


[20240707 06:59:52]: thread_socket_receive len 147 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[31,-23431,-47499,-63,-109173,-17],"pose":[300010,15,400000,3140,1,0],"sys_err":0},"state":"current_arm_state"}


[20240707 06:59:52]: thread_socket_receive len 147 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[31,-23431,-47499,-63,-109173,-17],"pose":[300010,15,400000,3140,1,0],"sys_err":0},"state":"current_arm_state"}


[20240707 06:59:52]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 06:59:52]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 06:59:52]: [rm_get_current_arm_state] joint parse result:

[20240707 06:59:52]:  31

[20240707 06:59:52]:  -23431

[20240707 06:59:52]:  -47499

[20240707 06:59:52]:  -63

[20240707 06:59:52]:  -109173

[20240707 06:59:52]:  -17

[20240707 06:59:52]: [rm_get_current_arm_state] pose parse result:

[20240707 06:59:52]:  300010

[20240707 06:59:52]:  15

[20240707 06:59:52]:  400000

[20240707 06:59:52]:  3140

[20240707 06:59:52]:  1

[20240707 06:59:52]:  0

[20240707 06:59:52]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 06:59:52]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:59:52]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 06:59:52]: [rm_movej] receive_state: true

[20240707 06:59:56]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 06:59:56]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:59:56]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:59:56]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 06:59:56]: [rm_movej_p] receive_state: true

[20240707 06:59:58]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:59:58]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:59:58]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:59:58]: [rm_set_force_position] set_state: true

[20240707 06:59:58]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 06:59:58]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:59:58]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:59:58]: [rm_movel] receive_state: true

[20240707 06:59:58]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 06:59:58]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:59:58]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:59:58]: [rm_movel] receive_state: true

[20240707 06:59:59]: send is: {"command":"stop_force_position"}


[20240707 06:59:59]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:59:59]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 06:59:59]: [rm_stop_force_position] stop_state: true

[20240707 06:59:59]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 06:59:59]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:59:59]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 06:59:59]: [rm_set_force_position] set_state: true

[20240707 06:59:59]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 06:59:59]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:59:59]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:59:59]: [rm_movel] receive_state: true

[20240707 06:59:59]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 06:59:59]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 06:59:59]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:59:59]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 06:59:59]: [rm_movel] receive_state: true

[20240707 07:00:00]: send is: {"command":"stop_force_position"}


[20240707 07:00:00]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:00:00]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:00:00]: [rm_stop_force_position] stop_state: true

[20240707 07:00:00]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:00:00]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:00:00]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:00:00]: [rm_set_force_position] set_state: true

[20240707 07:00:00]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:00:00]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:00:00]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:00:00]: [rm_movel] receive_state: true

[20240707 07:00:00]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:00:00]: thread_socket_receive len 193 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:00:00]: thread_socket_receive len 193 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:00:00]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:00:00]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:00:00]: [rm_movel] receive_state: true

[20240707 07:00:01]: send is: {"command":"stop_force_position"}


[20240707 07:00:01]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:00:01]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:00:01]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:00:01]: [rm_stop_force_position] stop_state: true

[20240707 07:00:22] Begin API Testing.
[20240707 07:00:22]: send is: {"command":"get_arm_software_info"}


[20240707 07:00:22]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:00:22]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:00:22]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 07:00:22]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 07:00:22]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 07:00:22]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 07:00:22]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 07:00:22]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 07:00:22]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 07:00:22]: send is: {"command":"get_realtime_push"}


[20240707 07:00:22]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:00:22]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:00:22]: [rm_get_realtime_push] cycle parse result: 5

[20240707 07:00:22]: [rm_get_realtime_push] port parse result: 8089

[20240707 07:00:22]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 07:00:22]: [rm_get_realtime_push] enable parse result: 1

[20240707 07:00:22]: send is: {"command":"get_current_work_frame"}


[20240707 07:00:22]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:00:22]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:00:22]: [get_current_work_frame] Work frame Name: World

[20240707 07:00:22]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:00:22]: send is: {"command":"get_current_tool_frame"}


[20240707 07:00:22]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:00:22]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:00:22]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 07:00:22]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:00:22]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 07:00:22]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 07:00:22]: send is: {"command":"get_install_pose"}


[20240707 07:00:22]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:00:22]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:00:22]: [rm_get_install_pose] pose parse result:

[20240707 07:00:22]:  0

[20240707 07:00:22]:  0

[20240707 07:00:22]:  0

[20240707 07:00:22]: send is: {"command":"get_joint_min_pos"}


[20240707 07:00:22]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:00:22]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:00:22]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 07:00:22]:  -178000

[20240707 07:00:22]:  -130000

[20240707 07:00:22]:  -135000

[20240707 07:00:22]:  -178000

[20240707 07:00:22]:  -128000

[20240707 07:00:22]:  -360000

[20240707 07:00:22]: send is: {"command":"get_joint_max_pos"}


[20240707 07:00:22]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:00:22]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:00:22]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 07:00:22]:  178000

[20240707 07:00:22]:  130000

[20240707 07:00:22]:  135000

[20240707 07:00:22]:  178000

[20240707 07:00:22]:  128000

[20240707 07:00:22]:  360000

[20240707 07:00:22]: send is: {"command":"get_joint_max_acc"}


[20240707 07:00:22]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:00:22]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:00:22]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 07:00:22]:  100000

[20240707 07:00:22]:  100000

[20240707 07:00:22]:  100000

[20240707 07:00:22]:  100000

[20240707 07:00:22]:  100000

[20240707 07:00:22]:  100000

[20240707 07:00:22]: send is: {"command":"get_joint_max_speed"}


[20240707 07:00:22]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:00:22]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:00:22]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 07:00:22]:  30000

[20240707 07:00:22]:  30000

[20240707 07:00:22]:  37500

[20240707 07:00:22]:  37500

[20240707 07:00:22]:  37500

[20240707 07:00:22]:  37500

[20240707 07:00:22]: send is: {"command":"get_current_arm_state"}


[20240707 07:00:22]: thread_socket_receive len 141 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[30,1899,-84793,-2,-97183,8],"pose":[199706,98,378335,3141,1,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:00:22]: thread_socket_receive len 141 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[30,1899,-84793,-2,-97183,8],"pose":[199706,98,378335,3141,1,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:00:22]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 07:00:22]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 07:00:22]: [rm_get_current_arm_state] joint parse result:

[20240707 07:00:22]:  30

[20240707 07:00:22]:  1899

[20240707 07:00:22]:  -84793

[20240707 07:00:22]:  -2

[20240707 07:00:22]:  -97183

[20240707 07:00:22]:  8

[20240707 07:00:22]: [rm_get_current_arm_state] pose parse result:

[20240707 07:00:22]:  199706

[20240707 07:00:22]:  98

[20240707 07:00:22]:  378335

[20240707 07:00:22]:  3141

[20240707 07:00:22]:  1

[20240707 07:00:22]:  0

[20240707 07:00:22]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 07:00:22]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:00:22]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:00:22]: [rm_movej] receive_state: true

[20240707 07:00:25]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:00:25]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:00:25]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:00:25]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:00:25]: [rm_movej_p] receive_state: true

[20240707 07:00:27]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:00:27]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:00:27]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:00:27]: [rm_set_force_position] set_state: true

[20240707 07:00:27]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:00:27]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:00:27]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:00:27]: [rm_movel] receive_state: true

[20240707 07:00:28]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:00:28]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:00:28]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:00:28]: [rm_movel] receive_state: true

[20240707 07:00:28]: send is: {"command":"stop_force_position"}


[20240707 07:00:28]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:00:28]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:00:28]: [rm_stop_force_position] stop_state: true

[20240707 07:00:28]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:00:28]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:00:28]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:00:28]: [rm_set_force_position] set_state: true

[20240707 07:00:28]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:00:28]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:00:28]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:00:28]: [rm_movel] receive_state: true

[20240707 07:00:29]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:00:29]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:00:29]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:00:29]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:00:29]: [rm_movel] receive_state: true

[20240707 07:00:29]: send is: {"command":"stop_force_position"}


[20240707 07:00:29]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:00:29]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:00:29]: [rm_stop_force_position] stop_state: true

[20240707 07:00:29]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:00:29]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:00:29]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:00:29]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:00:29]: [rm_set_force_position] set_state: true

[20240707 07:00:29]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:00:29]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:00:29]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:00:29]: [rm_movel] receive_state: true

[20240707 07:00:30]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:00:30]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:00:30]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:00:30]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:00:30]: [rm_movel] receive_state: true

[20240707 07:00:30]: send is: {"command":"stop_force_position"}


[20240707 07:00:30]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:00:30]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:00:30]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:00:30]: [rm_stop_force_position] stop_state: true

[20240707 07:01:25] Begin API Testing.
[20240707 07:01:25]: send is: {"command":"get_arm_software_info"}


[20240707 07:01:25]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:01:25]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:01:25]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 07:01:25]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 07:01:25]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 07:01:25]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 07:01:25]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 07:01:25]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 07:01:25]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 07:01:25]: send is: {"command":"get_realtime_push"}


[20240707 07:01:25]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:01:25]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:01:25]: [rm_get_realtime_push] cycle parse result: 5

[20240707 07:01:25]: [rm_get_realtime_push] port parse result: 8089

[20240707 07:01:25]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 07:01:25]: [rm_get_realtime_push] enable parse result: 1

[20240707 07:01:25]: send is: {"command":"get_current_work_frame"}


[20240707 07:01:25]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:01:25]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:01:25]: [get_current_work_frame] Work frame Name: World

[20240707 07:01:25]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:01:25]: send is: {"command":"get_current_tool_frame"}


[20240707 07:01:25]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:01:25]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:01:25]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 07:01:25]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:01:25]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 07:01:25]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 07:01:25]: send is: {"command":"get_install_pose"}


[20240707 07:01:25]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:01:25]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:01:25]: [rm_get_install_pose] pose parse result:

[20240707 07:01:25]:  0

[20240707 07:01:25]:  0

[20240707 07:01:25]:  0

[20240707 07:01:25]: send is: {"command":"get_joint_min_pos"}


[20240707 07:01:25]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:01:25]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:01:25]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 07:01:25]:  -178000

[20240707 07:01:25]:  -130000

[20240707 07:01:25]:  -135000

[20240707 07:01:25]:  -178000

[20240707 07:01:25]:  -128000

[20240707 07:01:25]:  -360000

[20240707 07:01:25]: send is: {"command":"get_joint_max_pos"}


[20240707 07:01:25]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:01:25]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:01:25]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 07:01:25]:  178000

[20240707 07:01:25]:  130000

[20240707 07:01:25]:  135000

[20240707 07:01:25]:  178000

[20240707 07:01:25]:  128000

[20240707 07:01:25]:  360000

[20240707 07:01:25]: send is: {"command":"get_joint_max_acc"}


[20240707 07:01:25]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:01:25]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:01:25]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 07:01:25]:  100000

[20240707 07:01:25]:  100000

[20240707 07:01:25]:  100000

[20240707 07:01:25]:  100000

[20240707 07:01:25]:  100000

[20240707 07:01:25]:  100000

[20240707 07:01:25]: send is: {"command":"get_joint_max_speed"}


[20240707 07:01:25]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:01:25]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:01:25]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 07:01:25]:  30000

[20240707 07:01:25]:  30000

[20240707 07:01:25]:  37500

[20240707 07:01:25]:  37500

[20240707 07:01:25]:  37500

[20240707 07:01:25]:  37500

[20240707 07:01:25]: send is: {"command":"get_current_arm_state"}


[20240707 07:01:25]: thread_socket_receive len 144 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[-9,1933,-85240,-42,-96770,8],"pose":[199737,-139,376831,3140,1,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:01:25]: thread_socket_receive len 144 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[-9,1933,-85240,-42,-96770,8],"pose":[199737,-139,376831,3140,1,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:01:25]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 07:01:25]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 07:01:25]: [rm_get_current_arm_state] joint parse result:

[20240707 07:01:25]:  -9

[20240707 07:01:25]:  1933

[20240707 07:01:25]:  -85240

[20240707 07:01:25]:  -42

[20240707 07:01:25]:  -96770

[20240707 07:01:25]:  8

[20240707 07:01:25]: [rm_get_current_arm_state] pose parse result:

[20240707 07:01:25]:  199737

[20240707 07:01:25]:  -139

[20240707 07:01:25]:  376831

[20240707 07:01:25]:  3140

[20240707 07:01:25]:  1

[20240707 07:01:25]:  0

[20240707 07:01:25]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 07:01:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:01:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:01:25]: [rm_movej] receive_state: true

[20240707 07:01:28]: send is: {"command":"movej_p","v":20,"pose":[500000,0,800000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:01:28]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:01:28]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:01:28]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:01:28]: [rm_movej_p] receive_state: true

[20240707 07:01:30]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:01:30]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:01:30]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:01:30]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:01:30]: [rm_set_force_position] set_state: true

[20240707 07:01:30]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:01:30]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:01:30]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:01:30]: [rm_movel] receive_state: true

[20240707 07:01:31]: send is: {"command":"movel","v":50,"pose":[500000,0,800000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:01:31]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:01:31]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:01:31]: [rm_movel] receive_state: true

[20240707 07:01:31]: send is: {"command":"stop_force_position"}


[20240707 07:01:31]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:01:31]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:01:31]: [rm_stop_force_position] stop_state: true

[20240707 07:01:31]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:01:31]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:01:31]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:01:31]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:01:31]: [rm_set_force_position] set_state: true

[20240707 07:01:31]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:01:31]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:01:31]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:01:31]: [rm_movel] receive_state: true

[20240707 07:01:32]: send is: {"command":"movel","v":50,"pose":[500000,0,800000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:01:32]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:01:32]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:01:32]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:01:32]: [rm_movel] receive_state: true

[20240707 07:01:32]: send is: {"command":"stop_force_position"}


[20240707 07:01:32]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:01:32]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:01:32]: [rm_stop_force_position] stop_state: true

[20240707 07:01:32]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:01:32]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:01:32]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:01:32]: [rm_set_force_position] set_state: true

[20240707 07:01:32]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:01:32]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:01:32]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:01:32]: [rm_movel] receive_state: true

[20240707 07:01:33]: send is: {"command":"movel","v":50,"pose":[500000,0,800000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:01:33]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:01:33]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:01:33]: [rm_movel] receive_state: true

[20240707 07:01:33]: send is: {"command":"stop_force_position"}


[20240707 07:01:33]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:01:33]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:01:33]: [rm_stop_force_position] stop_state: true

[20240707 07:02:13] Begin API Testing.
[20240707 07:02:13]: send is: {"command":"get_arm_software_info"}


[20240707 07:02:13]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:02:13]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:02:13]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 07:02:13]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 07:02:13]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 07:02:13]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 07:02:13]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 07:02:13]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 07:02:13]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 07:02:13]: send is: {"command":"get_realtime_push"}


[20240707 07:02:13]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:02:13]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:02:13]: [rm_get_realtime_push] cycle parse result: 5

[20240707 07:02:13]: [rm_get_realtime_push] port parse result: 8089

[20240707 07:02:13]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 07:02:13]: [rm_get_realtime_push] enable parse result: 1

[20240707 07:02:13]: send is: {"command":"get_current_work_frame"}


[20240707 07:02:13]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:02:13]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:02:13]: [get_current_work_frame] Work frame Name: World

[20240707 07:02:13]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:02:13]: send is: {"command":"get_current_tool_frame"}


[20240707 07:02:13]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:02:13]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:02:13]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 07:02:13]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:02:13]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 07:02:13]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 07:02:13]: send is: {"command":"get_install_pose"}


[20240707 07:02:13]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:02:13]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:02:13]: [rm_get_install_pose] pose parse result:

[20240707 07:02:13]:  0

[20240707 07:02:13]:  0

[20240707 07:02:13]:  0

[20240707 07:02:13]: send is: {"command":"get_joint_min_pos"}


[20240707 07:02:13]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:02:13]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:02:13]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 07:02:13]:  -178000

[20240707 07:02:13]:  -130000

[20240707 07:02:13]:  -135000

[20240707 07:02:13]:  -178000

[20240707 07:02:13]:  -128000

[20240707 07:02:13]:  -360000

[20240707 07:02:13]: send is: {"command":"get_joint_max_pos"}


[20240707 07:02:13]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:02:13]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:02:13]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 07:02:13]:  178000

[20240707 07:02:13]:  130000

[20240707 07:02:13]:  135000

[20240707 07:02:13]:  178000

[20240707 07:02:13]:  128000

[20240707 07:02:13]:  360000

[20240707 07:02:13]: send is: {"command":"get_joint_max_acc"}


[20240707 07:02:13]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:02:13]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:02:13]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 07:02:13]:  100000

[20240707 07:02:13]:  100000

[20240707 07:02:13]:  100000

[20240707 07:02:13]:  100000

[20240707 07:02:13]:  100000

[20240707 07:02:13]:  100000

[20240707 07:02:13]: send is: {"command":"get_joint_max_speed"}


[20240707 07:02:13]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:02:13]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:02:13]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 07:02:13]:  30000

[20240707 07:02:13]:  30000

[20240707 07:02:13]:  37500

[20240707 07:02:13]:  37500

[20240707 07:02:13]:  37500

[20240707 07:02:13]:  37500

[20240707 07:02:13]: send is: {"command":"get_current_arm_state"}


[20240707 07:02:13]: thread_socket_receive len 123 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[-1,-1,1,1,-1,0],"pose":[9,0,850500,0,0,3141],"sys_err":0},"state":"current_arm_state"}


[20240707 07:02:13]: thread_socket_receive len 123 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[-1,-1,1,1,-1,0],"pose":[9,0,850500,0,0,3141],"sys_err":0},"state":"current_arm_state"}


[20240707 07:02:13]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 07:02:13]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 07:02:13]: [rm_get_current_arm_state] joint parse result:

[20240707 07:02:13]:  -1

[20240707 07:02:13]:  -1

[20240707 07:02:13]:  1

[20240707 07:02:13]:  1

[20240707 07:02:13]:  -1

[20240707 07:02:13]:  0

[20240707 07:02:13]: [rm_get_current_arm_state] pose parse result:

[20240707 07:02:13]:  9

[20240707 07:02:13]:  0

[20240707 07:02:13]:  850500

[20240707 07:02:13]:  0

[20240707 07:02:13]:  0

[20240707 07:02:13]:  3141

[20240707 07:02:13]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 07:02:13]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:02:13]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:02:13]: [rm_movej] receive_state: true

[20240707 07:02:13]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:02:13]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:02:13]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:02:15]: send is: {"command":"movej_p","v":20,"pose":[100000,0,200000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:02:15]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:02:15]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:02:15]: [rm_movej_p] receive_state: true

[20240707 07:02:17]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:02:17]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:02:17]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:02:17]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:02:17]: [rm_set_force_position] set_state: true

[20240707 07:02:17]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:02:17]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:02:17]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:02:17]: [rm_movel] receive_state: true

[20240707 07:02:18]: send is: {"command":"movel","v":50,"pose":[100000,0,200000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:02:18]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:02:18]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:02:18]: [rm_movel] receive_state: true

[20240707 07:02:18]: send is: {"command":"stop_force_position"}


[20240707 07:02:18]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:02:18]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:02:18]: [rm_stop_force_position] stop_state: true

[20240707 07:02:18]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:02:18]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:02:18]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:02:18]: [rm_set_force_position] set_state: true

[20240707 07:02:18]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:02:18]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:02:18]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:02:18]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:02:18]: [rm_movel] receive_state: true

[20240707 07:02:19]: send is: {"command":"movel","v":50,"pose":[100000,0,200000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:02:19]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:02:19]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:02:19]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:02:19]: [rm_movel] receive_state: true

[20240707 07:02:19]: send is: {"command":"stop_force_position"}


[20240707 07:02:19]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:02:19]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:02:19]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:02:19]: [rm_stop_force_position] stop_state: true

[20240707 07:02:19]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:02:19]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:02:19]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:02:19]: [rm_set_force_position] set_state: true

[20240707 07:02:19]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:02:19]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:02:19]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:02:19]: [rm_movel] receive_state: true

[20240707 07:02:20]: send is: {"command":"movel","v":50,"pose":[100000,0,200000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:02:20]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:02:20]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:02:20]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:02:20]: [rm_movel] receive_state: true

[20240707 07:02:20]: send is: {"command":"stop_force_position"}


[20240707 07:02:20]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:02:20]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:02:20]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:02:20]: [rm_stop_force_position] stop_state: true

[20240707 07:02:57] Begin API Testing.
[20240707 07:02:57]: send is: {"command":"get_arm_software_info"}


[20240707 07:02:57]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:02:57]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:02:57]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 07:02:57]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 07:02:57]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 07:02:57]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 07:02:57]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 07:02:57]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 07:02:57]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 07:02:57]: send is: {"command":"get_realtime_push"}


[20240707 07:02:57]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:02:57]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:02:57]: [rm_get_realtime_push] cycle parse result: 5

[20240707 07:02:57]: [rm_get_realtime_push] port parse result: 8089

[20240707 07:02:57]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 07:02:57]: [rm_get_realtime_push] enable parse result: 1

[20240707 07:02:57]: send is: {"command":"get_current_work_frame"}


[20240707 07:02:57]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:02:57]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:02:57]: [get_current_work_frame] Work frame Name: World

[20240707 07:02:57]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:02:57]: send is: {"command":"get_current_tool_frame"}


[20240707 07:02:57]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:02:57]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:02:57]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 07:02:57]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:02:57]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 07:02:57]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 07:02:57]: send is: {"command":"get_install_pose"}


[20240707 07:02:57]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:02:57]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:02:57]: [rm_get_install_pose] pose parse result:

[20240707 07:02:57]:  0

[20240707 07:02:57]:  0

[20240707 07:02:57]:  0

[20240707 07:02:57]: send is: {"command":"get_joint_min_pos"}


[20240707 07:02:57]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:02:57]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:02:57]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 07:02:57]:  -178000

[20240707 07:02:57]:  -130000

[20240707 07:02:57]:  -135000

[20240707 07:02:57]:  -178000

[20240707 07:02:57]:  -128000

[20240707 07:02:57]:  -360000

[20240707 07:02:57]: send is: {"command":"get_joint_max_pos"}


[20240707 07:02:57]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:02:57]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:02:57]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 07:02:57]:  178000

[20240707 07:02:57]:  130000

[20240707 07:02:57]:  135000

[20240707 07:02:57]:  178000

[20240707 07:02:57]:  128000

[20240707 07:02:57]:  360000

[20240707 07:02:57]: send is: {"command":"get_joint_max_acc"}


[20240707 07:02:57]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:02:57]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:02:57]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 07:02:57]:  100000

[20240707 07:02:57]:  100000

[20240707 07:02:57]:  100000

[20240707 07:02:57]:  100000

[20240707 07:02:57]:  100000

[20240707 07:02:57]:  100000

[20240707 07:02:57]: send is: {"command":"get_joint_max_speed"}


[20240707 07:02:57]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:02:57]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:02:57]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 07:02:57]:  30000

[20240707 07:02:57]:  30000

[20240707 07:02:57]:  37500

[20240707 07:02:57]:  37500

[20240707 07:02:57]:  37500

[20240707 07:02:57]:  37500

[20240707 07:02:57]: send is: {"command":"get_current_arm_state"}


[20240707 07:02:57]: thread_socket_receive len 143 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[-17,3843,3871,41,-39302,-6],"pose":[30071,56,826688,0,-551,3141],"sys_err":0},"state":"current_arm_state"}


[20240707 07:02:57]: thread_socket_receive len 143 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[-17,3843,3871,41,-39302,-6],"pose":[30071,56,826688,0,-551,3141],"sys_err":0},"state":"current_arm_state"}


[20240707 07:02:57]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 07:02:57]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 07:02:57]: [rm_get_current_arm_state] joint parse result:

[20240707 07:02:57]:  -17

[20240707 07:02:57]:  3843

[20240707 07:02:57]:  3871

[20240707 07:02:57]:  41

[20240707 07:02:57]:  -39302

[20240707 07:02:57]:  -6

[20240707 07:02:57]: [rm_get_current_arm_state] pose parse result:

[20240707 07:02:57]:  30071

[20240707 07:02:57]:  56

[20240707 07:02:57]:  826688

[20240707 07:02:57]:  0

[20240707 07:02:57]:  -551

[20240707 07:02:57]:  3141

[20240707 07:02:57]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 07:02:57]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:02:57]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:02:57]: [rm_movej] receive_state: true

[20240707 07:03:01]: send is: {"command":"movej_p","v":20,"pose":[210000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:03:01]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:03:01]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:03:01]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:03:01]: [rm_movej_p] receive_state: true

[20240707 07:03:03]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:03:03]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:03:03]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:03:03]: [rm_set_force_position] set_state: true

[20240707 07:03:03]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:03:03]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:03]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:03]: [rm_movel] receive_state: true

[20240707 07:03:03]: send is: {"command":"movel","v":50,"pose":[210000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:03:03]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:03]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:03]: [rm_movel] receive_state: true

[20240707 07:03:04]: send is: {"command":"stop_force_position"}


[20240707 07:03:04]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:03:04]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:03:04]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:03:04]: [rm_stop_force_position] stop_state: true

[20240707 07:03:04]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:03:04]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:03:04]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:03:04]: [rm_set_force_position] set_state: true

[20240707 07:03:04]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:03:04]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:03:04]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:04]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:04]: [rm_movel] receive_state: true

[20240707 07:03:04]: send is: {"command":"movel","v":50,"pose":[210000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:03:04]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:03:04]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:04]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:04]: [rm_movel] receive_state: true

[20240707 07:03:05]: send is: {"command":"stop_force_position"}


[20240707 07:03:05]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:03:05]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:03:05]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:03:05]: [rm_stop_force_position] stop_state: true

[20240707 07:03:05]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:03:05]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:03:05]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:03:05]: [rm_set_force_position] set_state: true

[20240707 07:03:05]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:03:05]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:05]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:05]: [rm_movel] receive_state: true

[20240707 07:03:05]: send is: {"command":"movel","v":50,"pose":[210000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:03:05]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:03:05]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:05]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:05]: [rm_movel] receive_state: true

[20240707 07:03:06]: send is: {"command":"stop_force_position"}


[20240707 07:03:06]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:03:06]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:03:06]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:03:06]: [rm_stop_force_position] stop_state: true

[20240707 07:03:22] Begin API Testing.
[20240707 07:03:22]: send is: {"command":"get_arm_software_info"}


[20240707 07:03:22]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:03:22]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:03:22]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 07:03:22]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 07:03:22]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 07:03:22]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 07:03:22]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 07:03:22]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 07:03:22]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 07:03:22]: send is: {"command":"get_realtime_push"}


[20240707 07:03:22]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:03:22]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:03:22]: [rm_get_realtime_push] cycle parse result: 5

[20240707 07:03:22]: [rm_get_realtime_push] port parse result: 8089

[20240707 07:03:22]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 07:03:22]: [rm_get_realtime_push] enable parse result: 1

[20240707 07:03:22]: send is: {"command":"get_current_work_frame"}


[20240707 07:03:22]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:03:22]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:03:22]: [get_current_work_frame] Work frame Name: World

[20240707 07:03:22]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:03:22]: send is: {"command":"get_current_tool_frame"}


[20240707 07:03:22]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:03:22]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:03:22]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 07:03:22]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:03:22]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 07:03:22]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 07:03:22]: send is: {"command":"get_install_pose"}


[20240707 07:03:22]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:03:22]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:03:22]: [rm_get_install_pose] pose parse result:

[20240707 07:03:22]:  0

[20240707 07:03:22]:  0

[20240707 07:03:22]:  0

[20240707 07:03:22]: send is: {"command":"get_joint_min_pos"}


[20240707 07:03:22]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:03:22]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:03:22]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 07:03:22]:  -178000

[20240707 07:03:22]:  -130000

[20240707 07:03:22]:  -135000

[20240707 07:03:22]:  -178000

[20240707 07:03:22]:  -128000

[20240707 07:03:22]:  -360000

[20240707 07:03:22]: send is: {"command":"get_joint_max_pos"}


[20240707 07:03:22]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:03:22]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:03:22]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 07:03:22]:  178000

[20240707 07:03:22]:  130000

[20240707 07:03:22]:  135000

[20240707 07:03:22]:  178000

[20240707 07:03:22]:  128000

[20240707 07:03:22]:  360000

[20240707 07:03:22]: send is: {"command":"get_joint_max_acc"}


[20240707 07:03:22]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:03:22]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:03:22]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 07:03:22]:  100000

[20240707 07:03:22]:  100000

[20240707 07:03:22]:  100000

[20240707 07:03:22]:  100000

[20240707 07:03:22]:  100000

[20240707 07:03:22]:  100000

[20240707 07:03:22]: send is: {"command":"get_joint_max_speed"}


[20240707 07:03:22]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:03:22]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:03:22]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 07:03:22]:  30000

[20240707 07:03:22]:  30000

[20240707 07:03:22]:  37500

[20240707 07:03:22]:  37500

[20240707 07:03:22]:  37500

[20240707 07:03:22]:  37500

[20240707 07:03:22]: send is: {"command":"get_current_arm_state"}


[20240707 07:03:22]: thread_socket_receive len 143 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[23,1797,-83567,-34,-98231,12],"pose":[199803,-4,382435,3141,0,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:03:22]: thread_socket_receive len 143 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[23,1797,-83567,-34,-98231,12],"pose":[199803,-4,382435,3141,0,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:03:22]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 07:03:22]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 07:03:22]: [rm_get_current_arm_state] joint parse result:

[20240707 07:03:22]:  23

[20240707 07:03:22]:  1797

[20240707 07:03:22]:  -83567

[20240707 07:03:22]:  -34

[20240707 07:03:22]:  -98231

[20240707 07:03:22]:  12

[20240707 07:03:22]: [rm_get_current_arm_state] pose parse result:

[20240707 07:03:22]:  199803

[20240707 07:03:22]:  -4

[20240707 07:03:22]:  382435

[20240707 07:03:22]:  3141

[20240707 07:03:22]:  0

[20240707 07:03:22]:  0

[20240707 07:03:22]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 07:03:22]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:03:22]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:03:22]: [rm_movej] receive_state: true

[20240707 07:03:25]: send is: {"command":"movej_p","v":20,"pose":[210000,0,360000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:03:25]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:03:25]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:03:25]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:03:25]: [rm_movej_p] receive_state: true

[20240707 07:03:27]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:03:27]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:03:27]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:03:27]: [rm_set_force_position] set_state: true

[20240707 07:03:27]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:03:27]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:27]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:27]: [rm_movel] receive_state: true

[20240707 07:03:28]: send is: {"command":"movel","v":50,"pose":[210000,0,360000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:03:28]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:28]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:28]: [rm_movel] receive_state: true

[20240707 07:03:28]: send is: {"command":"stop_force_position"}


[20240707 07:03:28]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:03:28]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:03:28]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:03:28]: [rm_stop_force_position] stop_state: true

[20240707 07:03:28]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:03:28]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:03:28]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:03:28]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:03:28]: [rm_set_force_position] set_state: true

[20240707 07:03:28]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:03:28]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:28]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:28]: [rm_movel] receive_state: true

[20240707 07:03:29]: send is: {"command":"movel","v":50,"pose":[210000,0,360000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:03:29]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:29]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:29]: [rm_movel] receive_state: true

[20240707 07:03:29]: send is: {"command":"stop_force_position"}


[20240707 07:03:29]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:03:29]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:03:29]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:03:29]: [rm_stop_force_position] stop_state: true

[20240707 07:03:29]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:03:29]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:03:29]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:03:29]: [rm_set_force_position] set_state: true

[20240707 07:03:29]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:03:29]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:03:29]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:29]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:29]: [rm_movel] receive_state: true

[20240707 07:03:30]: send is: {"command":"movel","v":50,"pose":[210000,0,360000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:03:30]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:30]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:30]: [rm_movel] receive_state: true

[20240707 07:03:30]: send is: {"command":"stop_force_position"}


[20240707 07:03:30]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:03:30]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:03:30]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:03:30]: [rm_stop_force_position] stop_state: true

[20240707 07:03:43] Begin API Testing.
[20240707 07:03:43]: send is: {"command":"get_arm_software_info"}


[20240707 07:03:43]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:03:43]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:03:43]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 07:03:43]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 07:03:43]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 07:03:43]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 07:03:43]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 07:03:43]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 07:03:43]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 07:03:43]: send is: {"command":"get_realtime_push"}


[20240707 07:03:43]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:03:43]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:03:43]: [rm_get_realtime_push] cycle parse result: 5

[20240707 07:03:43]: [rm_get_realtime_push] port parse result: 8089

[20240707 07:03:43]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 07:03:43]: [rm_get_realtime_push] enable parse result: 1

[20240707 07:03:43]: send is: {"command":"get_current_work_frame"}


[20240707 07:03:43]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:03:43]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:03:43]: [get_current_work_frame] Work frame Name: World

[20240707 07:03:43]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:03:43]: send is: {"command":"get_current_tool_frame"}


[20240707 07:03:43]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:03:43]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:03:43]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 07:03:43]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:03:43]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 07:03:43]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 07:03:43]: send is: {"command":"get_install_pose"}


[20240707 07:03:43]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:03:43]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:03:43]: [rm_get_install_pose] pose parse result:

[20240707 07:03:43]:  0

[20240707 07:03:43]:  0

[20240707 07:03:43]:  0

[20240707 07:03:43]: send is: {"command":"get_joint_min_pos"}


[20240707 07:03:43]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:03:43]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:03:43]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 07:03:43]:  -178000

[20240707 07:03:43]:  -130000

[20240707 07:03:43]:  -135000

[20240707 07:03:43]:  -178000

[20240707 07:03:43]:  -128000

[20240707 07:03:43]:  -360000

[20240707 07:03:43]: send is: {"command":"get_joint_max_pos"}


[20240707 07:03:43]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:03:43]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:03:43]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 07:03:43]:  178000

[20240707 07:03:43]:  130000

[20240707 07:03:43]:  135000

[20240707 07:03:43]:  178000

[20240707 07:03:43]:  128000

[20240707 07:03:43]:  360000

[20240707 07:03:43]: send is: {"command":"get_joint_max_acc"}


[20240707 07:03:43]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:03:43]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:03:43]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 07:03:44]:  100000

[20240707 07:03:44]:  100000

[20240707 07:03:44]:  100000

[20240707 07:03:44]:  100000

[20240707 07:03:44]:  100000

[20240707 07:03:44]:  100000

[20240707 07:03:44]: send is: {"command":"get_joint_max_speed"}


[20240707 07:03:44]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:03:44]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:03:44]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 07:03:44]:  30000

[20240707 07:03:44]:  30000

[20240707 07:03:44]:  37500

[20240707 07:03:44]:  37500

[20240707 07:03:44]:  37500

[20240707 07:03:44]:  37500

[20240707 07:03:44]: send is: {"command":"get_current_arm_state"}


[20240707 07:03:44]: thread_socket_receive len 143 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[26,204,-98727,-41,-81397,32],"pose":[206967,-8,321376,3140,-1,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:03:44]: thread_socket_receive len 143 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[26,204,-98727,-41,-81397,32],"pose":[206967,-8,321376,3140,-1,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:03:44]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 07:03:44]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 07:03:44]: [rm_get_current_arm_state] joint parse result:

[20240707 07:03:44]:  26

[20240707 07:03:44]:  204

[20240707 07:03:44]:  -98727

[20240707 07:03:44]:  -41

[20240707 07:03:44]:  -81397

[20240707 07:03:44]:  32

[20240707 07:03:44]: [rm_get_current_arm_state] pose parse result:

[20240707 07:03:44]:  206967

[20240707 07:03:44]:  -8

[20240707 07:03:44]:  321376

[20240707 07:03:44]:  3140

[20240707 07:03:44]:  -1

[20240707 07:03:44]:  0

[20240707 07:03:44]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 07:03:44]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:03:44]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:03:44]: [rm_movej] receive_state: true

[20240707 07:03:47]: send is: {"command":"movej_p","v":20,"pose":[210000,0,360000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:03:47]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:03:47]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:03:47]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:03:47]: [rm_movej_p] receive_state: true

[20240707 07:03:49]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:03:49]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:03:49]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:03:49]: [rm_set_force_position] set_state: true

[20240707 07:03:49]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:03:49]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:49]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:49]: [rm_movel] receive_state: true

[20240707 07:03:49]: send is: {"command":"movel","v":50,"pose":[210000,0,360000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:03:49]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:49]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:49]: [rm_movel] receive_state: true

[20240707 07:03:50]: send is: {"command":"stop_force_position"}


[20240707 07:03:50]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:03:50]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:03:50]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:03:50]: [rm_stop_force_position] stop_state: true

[20240707 07:03:50]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:03:50]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:03:50]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:03:50]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:03:50]: [rm_set_force_position] set_state: true

[20240707 07:03:50]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:03:50]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:50]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:50]: [rm_movel] receive_state: true

[20240707 07:03:51]: send is: {"command":"movel","v":50,"pose":[210000,0,360000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:03:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:51]: [rm_movel] receive_state: true

[20240707 07:03:51]: send is: {"command":"stop_force_position"}


[20240707 07:03:51]: thread_socket_receive len 192 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:03:51]: thread_socket_receive len 192 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:03:51]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:03:51]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:03:51]: [rm_stop_force_position] stop_state: true

[20240707 07:03:51]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:03:51]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:03:51]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:03:51]: [rm_set_force_position] set_state: true

[20240707 07:03:51]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:03:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:51]: [rm_movel] receive_state: true

[20240707 07:03:52]: send is: {"command":"movel","v":50,"pose":[210000,0,360000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:03:52]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:52]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:03:52]: [rm_movel] receive_state: true

[20240707 07:03:52]: send is: {"command":"stop_force_position"}


[20240707 07:03:52]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:03:52]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:03:52]: [rm_stop_force_position] stop_state: true

[20240707 07:04:18] Begin API Testing.
[20240707 07:04:18]: send is: {"command":"get_arm_software_info"}


[20240707 07:04:18]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:04:18]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:04:18]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 07:04:18]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 07:04:18]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 07:04:18]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 07:04:18]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 07:04:18]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 07:04:18]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 07:04:18]: send is: {"command":"get_realtime_push"}


[20240707 07:04:18]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:04:18]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:04:18]: [rm_get_realtime_push] cycle parse result: 5

[20240707 07:04:18]: [rm_get_realtime_push] port parse result: 8089

[20240707 07:04:18]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 07:04:18]: [rm_get_realtime_push] enable parse result: 1

[20240707 07:04:18]: send is: {"command":"get_current_work_frame"}


[20240707 07:04:18]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:04:18]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:04:18]: [get_current_work_frame] Work frame Name: World

[20240707 07:04:18]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:04:18]: send is: {"command":"get_current_tool_frame"}


[20240707 07:04:18]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:04:18]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:04:18]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 07:04:18]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:04:18]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 07:04:18]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 07:04:18]: send is: {"command":"get_install_pose"}


[20240707 07:04:18]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:04:18]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:04:18]: [rm_get_install_pose] pose parse result:

[20240707 07:04:18]:  0

[20240707 07:04:18]:  0

[20240707 07:04:18]:  0

[20240707 07:04:18]: send is: {"command":"get_joint_min_pos"}


[20240707 07:04:18]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:04:18]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:04:18]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 07:04:18]:  -178000

[20240707 07:04:18]:  -130000

[20240707 07:04:18]:  -135000

[20240707 07:04:18]:  -178000

[20240707 07:04:18]:  -128000

[20240707 07:04:18]:  -360000

[20240707 07:04:18]: send is: {"command":"get_joint_max_pos"}


[20240707 07:04:18]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:04:18]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:04:18]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 07:04:18]:  178000

[20240707 07:04:18]:  130000

[20240707 07:04:18]:  135000

[20240707 07:04:18]:  178000

[20240707 07:04:18]:  128000

[20240707 07:04:18]:  360000

[20240707 07:04:18]: send is: {"command":"get_joint_max_acc"}


[20240707 07:04:18]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:04:18]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:04:18]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 07:04:18]:  100000

[20240707 07:04:18]:  100000

[20240707 07:04:18]:  100000

[20240707 07:04:18]:  100000

[20240707 07:04:18]:  100000

[20240707 07:04:18]:  100000

[20240707 07:04:18]: send is: {"command":"get_joint_max_speed"}


[20240707 07:04:18]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:04:18]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:04:18]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 07:04:18]:  30000

[20240707 07:04:18]:  30000

[20240707 07:04:18]:  37500

[20240707 07:04:18]:  37500

[20240707 07:04:18]:  37500

[20240707 07:04:18]:  37500

[20240707 07:04:18]: send is: {"command":"get_current_arm_state"}


[20240707 07:04:18]: thread_socket_receive len 142 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[33,-20,-87930,-50,-92029,53],"pose":[210006,-6,360008,3140,0,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:04:18]: thread_socket_receive len 142 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[33,-20,-87930,-50,-92029,53],"pose":[210006,-6,360008,3140,0,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:04:18]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 07:04:18]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 07:04:18]: [rm_get_current_arm_state] joint parse result:

[20240707 07:04:18]:  33

[20240707 07:04:18]:  -20

[20240707 07:04:18]:  -87930

[20240707 07:04:18]:  -50

[20240707 07:04:18]:  -92029

[20240707 07:04:18]:  53

[20240707 07:04:18]: [rm_get_current_arm_state] pose parse result:

[20240707 07:04:18]:  210006

[20240707 07:04:18]:  -6

[20240707 07:04:18]:  360008

[20240707 07:04:18]:  3140

[20240707 07:04:18]:  0

[20240707 07:04:18]:  0

[20240707 07:04:18]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 07:04:18]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:04:18]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:04:18]: [rm_movej] receive_state: true

[20240707 07:04:22]: send is: {"command":"movej_p","v":20,"pose":[210000,0,360000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:04:22]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:04:22]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:04:22]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:04:22]: [rm_movej_p] receive_state: true

[20240707 07:04:24]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:04:24]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:04:24]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:04:24]: [rm_set_force_position] set_state: true

[20240707 07:04:24]: send is: {"command":"movel","v":50,"pose":[200000,0,390000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:04:24]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:04:24]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:04:24]: [rm_movel] receive_state: true

[20240707 07:04:24]: send is: {"command":"movel","v":50,"pose":[210000,0,360000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:04:24]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:04:24]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:04:24]: [rm_movel] receive_state: true

[20240707 07:04:25]: send is: {"command":"stop_force_position"}


[20240707 07:04:25]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:04:25]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:04:25]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:04:25]: [rm_stop_force_position] stop_state: true

[20240707 07:04:25]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:04:25]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:04:25]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:04:25]: [rm_set_force_position] set_state: true

[20240707 07:04:25]: send is: {"command":"movel","v":50,"pose":[200000,0,390000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:04:25]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:04:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:04:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:04:25]: [rm_movel] receive_state: true

[20240707 07:04:25]: send is: {"command":"movel","v":50,"pose":[210000,0,360000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:04:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:04:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:04:25]: [rm_movel] receive_state: true

[20240707 07:04:26]: send is: {"command":"stop_force_position"}


[20240707 07:04:26]: thread_socket_receive len 193 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:04:26]: thread_socket_receive len 193 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:04:26]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:04:26]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:04:26]: [rm_stop_force_position] stop_state: true

[20240707 07:04:26]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:04:26]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:04:26]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:04:26]: [rm_set_force_position] set_state: true

[20240707 07:04:26]: send is: {"command":"movel","v":50,"pose":[200000,0,390000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:04:26]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:04:26]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:04:26]: [rm_movel] receive_state: true

[20240707 07:04:26]: send is: {"command":"movel","v":50,"pose":[210000,0,360000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:04:26]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:04:26]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:04:26]: [rm_movel] receive_state: true

[20240707 07:04:27]: send is: {"command":"stop_force_position"}


[20240707 07:04:27]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:04:27]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:04:27]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:04:27]: [rm_stop_force_position] stop_state: true

[20240707 07:04:41] Begin API Testing.
[20240707 07:04:41]: send is: {"command":"get_arm_software_info"}


[20240707 07:04:41]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:04:41]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:04:41]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 07:04:41]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 07:04:41]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 07:04:41]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 07:04:41]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 07:04:41]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 07:04:41]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 07:04:41]: send is: {"command":"get_realtime_push"}


[20240707 07:04:41]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:04:41]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:04:41]: [rm_get_realtime_push] cycle parse result: 5

[20240707 07:04:41]: [rm_get_realtime_push] port parse result: 8089

[20240707 07:04:41]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 07:04:41]: [rm_get_realtime_push] enable parse result: 1

[20240707 07:04:41]: send is: {"command":"get_current_work_frame"}


[20240707 07:04:41]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:04:41]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:04:41]: [get_current_work_frame] Work frame Name: World

[20240707 07:04:41]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:04:41]: send is: {"command":"get_current_tool_frame"}


[20240707 07:04:41]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:04:41]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:04:41]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 07:04:41]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:04:41]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 07:04:41]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 07:04:41]: send is: {"command":"get_install_pose"}


[20240707 07:04:41]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:04:41]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:04:41]: [rm_get_install_pose] pose parse result:

[20240707 07:04:41]:  0

[20240707 07:04:41]:  0

[20240707 07:04:41]:  0

[20240707 07:04:41]: send is: {"command":"get_joint_min_pos"}


[20240707 07:04:41]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:04:41]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:04:41]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 07:04:41]:  -178000

[20240707 07:04:41]:  -130000

[20240707 07:04:41]:  -135000

[20240707 07:04:41]:  -178000

[20240707 07:04:41]:  -128000

[20240707 07:04:41]:  -360000

[20240707 07:04:41]: send is: {"command":"get_joint_max_pos"}


[20240707 07:04:41]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:04:41]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:04:41]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 07:04:41]:  178000

[20240707 07:04:41]:  130000

[20240707 07:04:41]:  135000

[20240707 07:04:41]:  178000

[20240707 07:04:41]:  128000

[20240707 07:04:41]:  360000

[20240707 07:04:41]: send is: {"command":"get_joint_max_acc"}


[20240707 07:04:41]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:04:41]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:04:41]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 07:04:41]:  100000

[20240707 07:04:41]:  100000

[20240707 07:04:41]:  100000

[20240707 07:04:41]:  100000

[20240707 07:04:41]:  100000

[20240707 07:04:41]:  100000

[20240707 07:04:41]: send is: {"command":"get_joint_max_speed"}


[20240707 07:04:41]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:04:41]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:04:41]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 07:04:41]:  30000

[20240707 07:04:41]:  30000

[20240707 07:04:41]:  37500

[20240707 07:04:41]:  37500

[20240707 07:04:41]:  37500

[20240707 07:04:41]:  37500

[20240707 07:04:41]: send is: {"command":"get_current_arm_state"}


[20240707 07:04:41]: thread_socket_receive len 173 robot_handle: 1 message:{"arm_state":{"arm_err":4099,"inverse_km_err":1662913802,"joint":[22,-236,-96336,-30,-83445,20],"pose":[209630,5,328461,3141,0,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:04:41]: thread_socket_receive len 173 robot_handle: 1 message:{"arm_state":{"arm_err":4099,"inverse_km_err":1662913802,"joint":[22,-236,-96336,-30,-83445,20],"pose":[209630,5,328461,3141,0,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:04:41]: [rm_get_current_arm_state] arm_err parse result: 4099

[20240707 07:04:41]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 07:04:41]: [rm_get_current_arm_state] joint parse result:

[20240707 07:04:41]:  22

[20240707 07:04:41]:  -236

[20240707 07:04:41]:  -96336

[20240707 07:04:41]:  -30

[20240707 07:04:41]:  -83445

[20240707 07:04:41]:  20

[20240707 07:04:41]: [rm_get_current_arm_state] pose parse result:

[20240707 07:04:41]:  209630

[20240707 07:04:41]:  5

[20240707 07:04:41]:  328461

[20240707 07:04:41]:  3141

[20240707 07:04:41]:  0

[20240707 07:04:41]:  0

[20240707 07:04:41]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 07:04:41]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:04:41]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:04:41]: [rm_movej] receive_state: true

[20240707 07:04:45]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:04:45]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:04:45]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:04:45]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:04:45]: [rm_movej_p] receive_state: true

[20240707 07:04:47]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:04:47]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:04:47]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:04:47]: [rm_set_force_position] set_state: true

[20240707 07:04:47]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:04:47]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:04:47]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:04:47]: [rm_movel] receive_state: true

[20240707 07:04:47]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:04:47]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:04:47]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:04:47]: [rm_movel] receive_state: true

[20240707 07:04:48]: send is: {"command":"stop_force_position"}


[20240707 07:04:48]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:04:48]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:04:48]: [rm_stop_force_position] stop_state: true

[20240707 07:04:48]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:04:48]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:04:48]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:04:48]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:04:48]: [rm_set_force_position] set_state: true

[20240707 07:04:48]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:04:48]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:04:48]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:04:48]: [rm_movel] receive_state: true

[20240707 07:04:48]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:04:48]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:04:48]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:04:48]: [rm_movel] receive_state: true

[20240707 07:04:49]: send is: {"command":"stop_force_position"}


[20240707 07:04:49]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:04:49]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:04:49]: [rm_stop_force_position] stop_state: true

[20240707 07:04:49]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:04:49]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:04:49]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:04:49]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:04:49]: [rm_set_force_position] set_state: true

[20240707 07:04:49]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:04:49]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:04:49]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:04:49]: [rm_movel] receive_state: true

[20240707 07:04:49]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:04:49]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:04:49]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:04:49]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:04:49]: [rm_movel] receive_state: true

[20240707 07:04:50]: send is: {"command":"stop_force_position"}


[20240707 07:04:50]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:04:50]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:04:50]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:04:50]: [rm_stop_force_position] stop_state: true

[20240707 07:10:59] Begin API Testing.
[20240707 07:10:59]: send is: {"command":"get_arm_software_info"}


[20240707 07:10:59]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:10:59]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:10:59]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 07:10:59]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 07:10:59]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 07:10:59]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 07:10:59]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 07:10:59]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 07:10:59]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 07:10:59]: send is: {"command":"get_realtime_push"}


[20240707 07:10:59]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:10:59]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:10:59]: [rm_get_realtime_push] cycle parse result: 5

[20240707 07:10:59]: [rm_get_realtime_push] port parse result: 8089

[20240707 07:10:59]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 07:10:59]: [rm_get_realtime_push] enable parse result: 1

[20240707 07:10:59]: send is: {"command":"get_current_work_frame"}


[20240707 07:10:59]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:10:59]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:10:59]: [get_current_work_frame] Work frame Name: World

[20240707 07:10:59]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:10:59]: send is: {"command":"get_current_tool_frame"}


[20240707 07:10:59]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:10:59]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:10:59]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 07:10:59]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:10:59]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 07:10:59]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 07:10:59]: send is: {"command":"get_install_pose"}


[20240707 07:10:59]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:10:59]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:10:59]: [rm_get_install_pose] pose parse result:

[20240707 07:10:59]:  0

[20240707 07:10:59]:  0

[20240707 07:10:59]:  0

[20240707 07:10:59]: send is: {"command":"get_joint_min_pos"}


[20240707 07:10:59]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:10:59]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:10:59]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 07:10:59]:  -178000

[20240707 07:10:59]:  -130000

[20240707 07:10:59]:  -135000

[20240707 07:10:59]:  -178000

[20240707 07:10:59]:  -128000

[20240707 07:10:59]:  -360000

[20240707 07:10:59]: send is: {"command":"get_joint_max_pos"}


[20240707 07:10:59]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:10:59]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:10:59]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 07:10:59]:  178000

[20240707 07:10:59]:  130000

[20240707 07:10:59]:  135000

[20240707 07:10:59]:  178000

[20240707 07:10:59]:  128000

[20240707 07:10:59]:  360000

[20240707 07:10:59]: send is: {"command":"get_joint_max_acc"}


[20240707 07:10:59]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:10:59]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:10:59]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 07:10:59]:  100000

[20240707 07:10:59]:  100000

[20240707 07:10:59]:  100000

[20240707 07:10:59]:  100000

[20240707 07:10:59]:  100000

[20240707 07:10:59]:  100000

[20240707 07:10:59]: send is: {"command":"get_joint_max_speed"}


[20240707 07:10:59]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:10:59]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:10:59]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 07:10:59]:  30000

[20240707 07:10:59]:  30000

[20240707 07:10:59]:  37500

[20240707 07:10:59]:  37500

[20240707 07:10:59]:  37500

[20240707 07:10:59]:  37500

[20240707 07:10:59]: send is: {"command":"get_current_arm_state"}


[20240707 07:10:59]: thread_socket_receive len 145 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[15,-22000,-81620,-35,-76381,24],"pose":[299991,-8,284407,3140,0,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:10:59]: thread_socket_receive len 145 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[15,-22000,-81620,-35,-76381,24],"pose":[299991,-8,284407,3140,0,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:10:59]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 07:10:59]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 07:10:59]: [rm_get_current_arm_state] joint parse result:

[20240707 07:10:59]:  15

[20240707 07:10:59]:  -22000

[20240707 07:10:59]:  -81620

[20240707 07:10:59]:  -35

[20240707 07:10:59]:  -76381

[20240707 07:10:59]:  24

[20240707 07:10:59]: [rm_get_current_arm_state] pose parse result:

[20240707 07:10:59]:  299991

[20240707 07:10:59]:  -8

[20240707 07:10:59]:  284407

[20240707 07:10:59]:  3140

[20240707 07:10:59]:  0

[20240707 07:10:59]:  0

[20240707 07:10:59]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 07:10:59]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:10:59]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:10:59]: [rm_movej] receive_state: true

[20240707 07:11:02]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:11:02]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:11:02]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:11:02]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:11:02]: [rm_movej_p] receive_state: true

[20240707 07:11:04]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:11:04]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:11:04]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:11:04]: [rm_set_force_position] set_state: true

[20240707 07:11:04]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:11:04]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:11:04]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:11:04]: [rm_movel] receive_state: true

[20240707 07:11:05]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:11:05]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:11:05]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:11:05]: [rm_movel] receive_state: true

[20240707 07:11:05]: send is: {"command":"stop_force_position"}


[20240707 07:11:05]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:11:05]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:11:05]: [rm_stop_force_position] stop_state: true

[20240707 07:11:05]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:11:05]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:11:05]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:11:05]: [rm_set_force_position] set_state: true

[20240707 07:11:05]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:11:05]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:11:05]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:11:05]: [rm_movel] receive_state: true

[20240707 07:11:06]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:11:06]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:11:06]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:11:06]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:11:06]: [rm_movel] receive_state: true

[20240707 07:11:06]: send is: {"command":"stop_force_position"}


[20240707 07:11:06]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:11:06]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:11:06]: [rm_stop_force_position] stop_state: true

[20240707 07:11:06]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:11:06]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:11:07]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:11:07]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:11:07]: [rm_set_force_position] set_state: true

[20240707 07:11:07]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:11:07]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:11:07]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:11:07]: [rm_movel] receive_state: true

[20240707 07:11:07]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":1}


[20240707 07:11:07]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:11:07]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:11:07]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:11:07]: [rm_movel] receive_state: true

[20240707 07:11:08]: send is: {"command":"stop_force_position"}


[20240707 07:11:08]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:11:08]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:11:08]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:11:08]: [rm_stop_force_position] stop_state: true

[20240707 07:12:55] Begin API Testing.
[20240707 07:12:55]: send is: {"command":"get_arm_software_info"}


[20240707 07:12:55]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:12:55]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:12:55]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 07:12:55]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 07:12:55]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 07:12:55]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 07:12:55]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 07:12:55]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 07:12:55]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 07:12:55]: send is: {"command":"get_realtime_push"}


[20240707 07:12:55]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:12:55]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:12:55]: [rm_get_realtime_push] cycle parse result: 5

[20240707 07:12:55]: [rm_get_realtime_push] port parse result: 8089

[20240707 07:12:55]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 07:12:55]: [rm_get_realtime_push] enable parse result: 1

[20240707 07:12:55]: send is: {"command":"get_current_work_frame"}


[20240707 07:12:55]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:12:55]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:12:55]: [get_current_work_frame] Work frame Name: World

[20240707 07:12:55]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:12:55]: send is: {"command":"get_current_tool_frame"}


[20240707 07:12:55]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:12:55]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:12:55]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 07:12:55]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:12:55]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 07:12:55]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 07:12:55]: send is: {"command":"get_install_pose"}


[20240707 07:12:55]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:12:55]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:12:55]: [rm_get_install_pose] pose parse result:

[20240707 07:12:55]:  0

[20240707 07:12:55]:  0

[20240707 07:12:55]:  0

[20240707 07:12:55]: send is: {"command":"get_joint_min_pos"}


[20240707 07:12:55]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:12:55]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:12:55]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 07:12:55]:  -178000

[20240707 07:12:55]:  -130000

[20240707 07:12:55]:  -135000

[20240707 07:12:55]:  -178000

[20240707 07:12:55]:  -128000

[20240707 07:12:55]:  -360000

[20240707 07:12:55]: send is: {"command":"get_joint_max_pos"}


[20240707 07:12:55]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:12:55]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:12:55]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 07:12:55]:  178000

[20240707 07:12:55]:  130000

[20240707 07:12:55]:  135000

[20240707 07:12:55]:  178000

[20240707 07:12:55]:  128000

[20240707 07:12:55]:  360000

[20240707 07:12:55]: send is: {"command":"get_joint_max_acc"}


[20240707 07:12:55]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:12:55]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:12:55]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 07:12:55]:  100000

[20240707 07:12:55]:  100000

[20240707 07:12:55]:  100000

[20240707 07:12:55]:  100000

[20240707 07:12:55]:  100000

[20240707 07:12:55]:  100000

[20240707 07:12:55]: send is: {"command":"get_joint_max_speed"}


[20240707 07:12:55]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:12:55]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:12:55]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 07:12:55]:  30000

[20240707 07:12:55]:  30000

[20240707 07:12:55]:  37500

[20240707 07:12:55]:  37500

[20240707 07:12:55]:  37500

[20240707 07:12:55]:  37500

[20240707 07:12:55]: send is: {"command":"get_current_arm_state"}


[20240707 07:12:55]: thread_socket_receive len 177 robot_handle: 1 message:{"arm_state":{"arm_err":4099,"inverse_km_err":-139653878,"joint":[-23,1903,-85240,-38,-96738,10],"pose":[199889,-177,376726,3140,1,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:12:55]: thread_socket_receive len 177 robot_handle: 1 message:{"arm_state":{"arm_err":4099,"inverse_km_err":-139653878,"joint":[-23,1903,-85240,-38,-96738,10],"pose":[199889,-177,376726,3140,1,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:12:55]: [rm_get_current_arm_state] arm_err parse result: 4099

[20240707 07:12:55]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 07:12:55]: [rm_get_current_arm_state] joint parse result:

[20240707 07:12:55]:  -23

[20240707 07:12:55]:  1903

[20240707 07:12:55]:  -85240

[20240707 07:12:55]:  -38

[20240707 07:12:55]:  -96738

[20240707 07:12:55]:  10

[20240707 07:12:55]: [rm_get_current_arm_state] pose parse result:

[20240707 07:12:55]:  199889

[20240707 07:12:55]:  -177

[20240707 07:12:55]:  376726

[20240707 07:12:55]:  3140

[20240707 07:12:55]:  1

[20240707 07:12:55]:  0

[20240707 07:12:55]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 07:12:55]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:12:55]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:12:55]: [rm_movej] receive_state: true

[20240707 07:12:58]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:12:58]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:12:58]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:12:58]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:12:58]: [rm_movej_p] receive_state: true

[20240707 07:13:02]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:13:02]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:13:02]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:13:02]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:13:02]: [rm_set_force_position] set_state: true

[20240707 07:13:02]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:13:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:13:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:13:02]: [rm_movel] receive_state: true

[20240707 07:13:02]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:13:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:13:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:13:02]: [rm_movel] receive_state: true

[20240707 07:13:03]: send is: {"command":"stop_force_position"}


[20240707 07:13:03]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:13:03]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:13:03]: [rm_stop_force_position] stop_state: true

[20240707 07:13:03]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:13:03]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:13:03]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:13:03]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:13:03]: [rm_set_force_position] set_state: true

[20240707 07:13:03]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:13:03]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:13:03]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:13:03]: [rm_movel] receive_state: true

[20240707 07:13:03]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:13:03]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:13:03]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:13:03]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:13:03]: [rm_movel] receive_state: true

[20240707 07:13:04]: send is: {"command":"stop_force_position"}


[20240707 07:13:04]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:13:04]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:13:04]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:13:04]: [rm_stop_force_position] stop_state: true

[20240707 07:13:04]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:13:04]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:13:04]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:13:04]: [rm_set_force_position] set_state: true

[20240707 07:13:04]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:13:04]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:13:04]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:13:04]: [rm_movel] receive_state: true

[20240707 07:13:04]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:13:04]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:13:04]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:13:04]: [rm_movel] receive_state: true

[20240707 07:13:05]: send is: {"command":"stop_force_position"}


[20240707 07:13:05]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:13:05]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:13:05]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:13:05]: [rm_stop_force_position] stop_state: true

[20240707 07:13:47] Begin API Testing.
[20240707 07:13:47]: send is: {"command":"get_arm_software_info"}


[20240707 07:13:47]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:13:47]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:13:47]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 07:13:47]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 07:13:47]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 07:13:47]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 07:13:47]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 07:13:47]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 07:13:47]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 07:13:47]: send is: {"command":"get_realtime_push"}


[20240707 07:13:47]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:13:47]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:13:47]: [rm_get_realtime_push] cycle parse result: 5

[20240707 07:13:47]: [rm_get_realtime_push] port parse result: 8089

[20240707 07:13:47]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 07:13:47]: [rm_get_realtime_push] enable parse result: 1

[20240707 07:13:47]: send is: {"command":"get_current_work_frame"}


[20240707 07:13:47]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:13:47]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:13:47]: [get_current_work_frame] Work frame Name: World

[20240707 07:13:47]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:13:47]: send is: {"command":"get_current_tool_frame"}


[20240707 07:13:47]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:13:47]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:13:47]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 07:13:47]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:13:47]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 07:13:47]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 07:13:47]: send is: {"command":"get_install_pose"}


[20240707 07:13:47]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:13:47]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:13:47]: [rm_get_install_pose] pose parse result:

[20240707 07:13:47]:  0

[20240707 07:13:47]:  0

[20240707 07:13:47]:  0

[20240707 07:13:47]: send is: {"command":"get_joint_min_pos"}


[20240707 07:13:47]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:13:48]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:13:48]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 07:13:48]:  -178000

[20240707 07:13:48]:  -130000

[20240707 07:13:48]:  -135000

[20240707 07:13:48]:  -178000

[20240707 07:13:48]:  -128000

[20240707 07:13:48]:  -360000

[20240707 07:13:48]: send is: {"command":"get_joint_max_pos"}


[20240707 07:13:48]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:13:48]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:13:48]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 07:13:48]:  178000

[20240707 07:13:48]:  130000

[20240707 07:13:48]:  135000

[20240707 07:13:48]:  178000

[20240707 07:13:48]:  128000

[20240707 07:13:48]:  360000

[20240707 07:13:48]: send is: {"command":"get_joint_max_acc"}


[20240707 07:13:48]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:13:48]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:13:48]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 07:13:48]:  100000

[20240707 07:13:48]:  100000

[20240707 07:13:48]:  100000

[20240707 07:13:48]:  100000

[20240707 07:13:48]:  100000

[20240707 07:13:48]:  100000

[20240707 07:13:48]: send is: {"command":"get_joint_max_speed"}


[20240707 07:13:48]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:13:48]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:13:48]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 07:13:48]:  30000

[20240707 07:13:48]:  30000

[20240707 07:13:48]:  37500

[20240707 07:13:48]:  37500

[20240707 07:13:48]:  37500

[20240707 07:13:48]:  37500

[20240707 07:13:48]: send is: {"command":"get_current_arm_state"}


[20240707 07:13:48]: thread_socket_receive len 144 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[17,-5475,-81984,-28,-92477,10],"pose":[234379,0,360640,3141,-1,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:13:48]: thread_socket_receive len 144 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[17,-5475,-81984,-28,-92477,10],"pose":[234379,0,360640,3141,-1,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:13:48]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 07:13:48]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 07:13:48]: [rm_get_current_arm_state] joint parse result:

[20240707 07:13:48]:  17

[20240707 07:13:48]:  -5475

[20240707 07:13:48]:  -81984

[20240707 07:13:48]:  -28

[20240707 07:13:48]:  -92477

[20240707 07:13:48]:  10

[20240707 07:13:48]: [rm_get_current_arm_state] pose parse result:

[20240707 07:13:48]:  234379

[20240707 07:13:48]:  0

[20240707 07:13:48]:  360640

[20240707 07:13:48]:  3141

[20240707 07:13:48]:  -1

[20240707 07:13:48]:  0

[20240707 07:13:48]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 07:13:48]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:13:48]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:13:48]: [rm_movej] receive_state: true

[20240707 07:13:51]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:13:51]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:13:51]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:13:51]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:13:51]: [rm_movej_p] receive_state: true

[20240707 07:13:54]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:13:54]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:13:54]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:13:54]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:13:54]: [rm_set_force_position] set_state: true

[20240707 07:13:54]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:13:54]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:13:54]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:13:54]: [rm_movel] receive_state: true

[20240707 07:13:55]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:13:55]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:13:55]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:13:56]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:13:56]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:13:56]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:13:56]: [rm_movel] receive_state: true

[20240707 07:13:57]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:13:57]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:13:57]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:13:57]: send is: {"command":"stop_force_position"}


[20240707 07:13:57]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:13:57]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:13:57]: [rm_stop_force_position] stop_state: true

[20240707 07:13:57]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:13:57]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:13:57]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:13:57]: [rm_set_force_position] set_state: true

[20240707 07:13:57]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:13:57]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:13:57]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:13:57]: [rm_movel] receive_state: true

[20240707 07:13:59]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:13:59]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:13:59]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:13:59]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:13:59]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:13:59]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:13:59]: [rm_movel] receive_state: true

[20240707 07:14:00]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:14:00]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:14:00]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:14:01]: send is: {"command":"stop_force_position"}


[20240707 07:14:01]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:14:01]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:14:01]: [rm_stop_force_position] stop_state: true

[20240707 07:14:01]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:14:01]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:14:01]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:14:01]: [rm_set_force_position] set_state: true

[20240707 07:14:01]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:14:01]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:14:01]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:14:01]: [rm_movel] receive_state: true

[20240707 07:14:03]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:14:03]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:14:03]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:14:03]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:14:03]: [rm_movel] receive_state: true

[20240707 07:14:04]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:14:04]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:14:04]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:14:05]: send is: {"command":"stop_force_position"}


[20240707 07:14:05]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:14:05]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:14:05]: [rm_stop_force_position] stop_state: true

[20240707 07:14:11] Begin API Testing.
[20240707 07:14:11]: send is: {"command":"get_arm_software_info"}


[20240707 07:14:11]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:14:11]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:14:11]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 07:14:11]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 07:14:11]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 07:14:11]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 07:14:11]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 07:14:11]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 07:14:11]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 07:14:11]: send is: {"command":"get_realtime_push"}


[20240707 07:14:11]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:14:11]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:14:11]: [rm_get_realtime_push] cycle parse result: 5

[20240707 07:14:11]: [rm_get_realtime_push] port parse result: 8089

[20240707 07:14:11]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 07:14:11]: [rm_get_realtime_push] enable parse result: 1

[20240707 07:14:11]: send is: {"command":"get_current_work_frame"}


[20240707 07:14:11]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:14:11]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:14:11]: [get_current_work_frame] Work frame Name: World

[20240707 07:14:11]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:14:11]: send is: {"command":"get_current_tool_frame"}


[20240707 07:14:11]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:14:11]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:14:11]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 07:14:11]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:14:11]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 07:14:11]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 07:14:11]: send is: {"command":"get_install_pose"}


[20240707 07:14:11]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:14:11]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:14:11]: [rm_get_install_pose] pose parse result:

[20240707 07:14:11]:  0

[20240707 07:14:11]:  0

[20240707 07:14:11]:  0

[20240707 07:14:11]: send is: {"command":"get_joint_min_pos"}


[20240707 07:14:11]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:14:11]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:14:11]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 07:14:11]:  -178000

[20240707 07:14:11]:  -130000

[20240707 07:14:11]:  -135000

[20240707 07:14:11]:  -178000

[20240707 07:14:11]:  -128000

[20240707 07:14:11]:  -360000

[20240707 07:14:11]: send is: {"command":"get_joint_max_pos"}


[20240707 07:14:11]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:14:11]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:14:11]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 07:14:11]:  178000

[20240707 07:14:11]:  130000

[20240707 07:14:11]:  135000

[20240707 07:14:11]:  178000

[20240707 07:14:11]:  128000

[20240707 07:14:11]:  360000

[20240707 07:14:11]: send is: {"command":"get_joint_max_acc"}


[20240707 07:14:11]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:14:11]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:14:11]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 07:14:11]:  100000

[20240707 07:14:11]:  100000

[20240707 07:14:11]:  100000

[20240707 07:14:11]:  100000

[20240707 07:14:11]:  100000

[20240707 07:14:11]:  100000

[20240707 07:14:11]: send is: {"command":"get_joint_max_speed"}


[20240707 07:14:11]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:14:11]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:14:11]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 07:14:11]:  30000

[20240707 07:14:11]:  30000

[20240707 07:14:11]:  37500

[20240707 07:14:11]:  37500

[20240707 07:14:11]:  37500

[20240707 07:14:11]:  37500

[20240707 07:14:11]: send is: {"command":"get_current_arm_state"}


[20240707 07:14:11]: thread_socket_receive len 146 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[15,-21990,-81837,-34,-76080,24],"pose":[300005,-4,283685,3141,-1,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:14:11]: thread_socket_receive len 146 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[15,-21990,-81837,-34,-76080,24],"pose":[300005,-4,283685,3141,-1,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:14:11]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 07:14:11]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 07:14:11]: [rm_get_current_arm_state] joint parse result:

[20240707 07:14:11]:  15

[20240707 07:14:11]:  -21990

[20240707 07:14:11]:  -81837

[20240707 07:14:11]:  -34

[20240707 07:14:11]:  -76080

[20240707 07:14:11]:  24

[20240707 07:14:11]: [rm_get_current_arm_state] pose parse result:

[20240707 07:14:11]:  300005

[20240707 07:14:11]:  -4

[20240707 07:14:11]:  283685

[20240707 07:14:11]:  3141

[20240707 07:14:11]:  -1

[20240707 07:14:11]:  0

[20240707 07:14:11]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 07:14:11]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:14:11]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:14:11]: [rm_movej] receive_state: true

[20240707 07:14:15]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:14:15]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:14:15]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:14:15]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:14:15]: [rm_movej_p] receive_state: true

[20240707 07:14:18]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:14:18]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:14:18]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:14:18]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:14:18]: [rm_set_force_position] set_state: true

[20240707 07:14:18]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:14:18]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:14:18]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:14:18]: [rm_movel] receive_state: true

[20240707 07:14:19]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:14:19]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:14:19]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:14:19]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:14:19]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:14:19]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:14:19]: [rm_movel] receive_state: true

[20240707 07:14:21]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:14:21]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:14:21]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:14:21]: send is: {"command":"stop_force_position"}


[20240707 07:14:21]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:14:21]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:14:21]: [rm_stop_force_position] stop_state: true

[20240707 07:14:21]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:14:21]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:14:21]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:14:21]: [rm_set_force_position] set_state: true

[20240707 07:14:21]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:14:21]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:14:21]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:14:21]: [rm_movel] receive_state: true

[20240707 07:14:22]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:14:22]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:14:22]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:14:23]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:14:23]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:14:23]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:14:23]: [rm_movel] receive_state: true

[20240707 07:14:24]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:14:24]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:14:24]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:14:24]: send is: {"command":"stop_force_position"}


[20240707 07:14:24]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:14:24]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:14:24]: [rm_stop_force_position] stop_state: true

[20240707 07:14:24]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:14:24]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:14:24]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:14:24]: [rm_set_force_position] set_state: true

[20240707 07:14:24]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:14:24]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:14:24]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:14:24]: [rm_movel] receive_state: true

[20240707 07:14:26]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:14:26]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:14:26]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:14:26]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:14:26]: [rm_movel] receive_state: true

[20240707 07:14:26]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:14:26]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:14:26]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 07:14:27]: send is: {"command":"stop_force_position"}


[20240707 07:14:27]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:14:27]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:14:27]: [rm_stop_force_position] stop_state: true

[20240707 07:15:19] Begin API Testing.
[20240707 07:15:19]: send is: {"command":"get_arm_software_info"}


[20240707 07:15:19]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:15:19]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:15:19]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 07:15:19]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 07:15:19]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 07:15:19]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 07:15:19]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 07:15:19]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 07:15:19]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 07:15:19]: send is: {"command":"get_realtime_push"}


[20240707 07:15:19]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:15:19]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:15:19]: [rm_get_realtime_push] cycle parse result: 5

[20240707 07:15:19]: [rm_get_realtime_push] port parse result: 8089

[20240707 07:15:19]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 07:15:19]: [rm_get_realtime_push] enable parse result: 1

[20240707 07:15:19]: send is: {"command":"get_current_work_frame"}


[20240707 07:15:19]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:15:19]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:15:19]: [get_current_work_frame] Work frame Name: World

[20240707 07:15:19]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:15:19]: send is: {"command":"get_current_tool_frame"}


[20240707 07:15:19]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:15:19]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:15:19]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 07:15:19]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:15:19]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 07:15:19]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 07:15:19]: send is: {"command":"get_install_pose"}


[20240707 07:15:19]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:15:19]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:15:19]: [rm_get_install_pose] pose parse result:

[20240707 07:15:19]:  0

[20240707 07:15:19]:  0

[20240707 07:15:19]:  0

[20240707 07:15:19]: send is: {"command":"get_joint_min_pos"}


[20240707 07:15:19]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:15:19]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:15:19]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 07:15:19]:  -178000

[20240707 07:15:19]:  -130000

[20240707 07:15:19]:  -135000

[20240707 07:15:19]:  -178000

[20240707 07:15:19]:  -128000

[20240707 07:15:19]:  -360000

[20240707 07:15:19]: send is: {"command":"get_joint_max_pos"}


[20240707 07:15:19]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:15:19]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:15:19]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 07:15:19]:  178000

[20240707 07:15:19]:  130000

[20240707 07:15:19]:  135000

[20240707 07:15:19]:  178000

[20240707 07:15:19]:  128000

[20240707 07:15:19]:  360000

[20240707 07:15:19]: send is: {"command":"get_joint_max_acc"}


[20240707 07:15:19]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:15:19]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:15:19]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 07:15:19]:  100000

[20240707 07:15:19]:  100000

[20240707 07:15:19]:  100000

[20240707 07:15:19]:  100000

[20240707 07:15:19]:  100000

[20240707 07:15:19]:  100000

[20240707 07:15:19]: send is: {"command":"get_joint_max_speed"}


[20240707 07:15:19]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:15:19]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:15:19]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 07:15:19]:  30000

[20240707 07:15:19]:  30000

[20240707 07:15:19]:  37500

[20240707 07:15:19]:  37500

[20240707 07:15:19]:  37500

[20240707 07:15:19]:  37500

[20240707 07:15:19]: send is: {"command":"get_current_arm_state"}


[20240707 07:15:19]: thread_socket_receive len 144 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[24,1288,-104113,-34,-77103,34],"pose":[199185,1,305820,3141,-1,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:15:19]: thread_socket_receive len 144 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[24,1288,-104113,-34,-77103,34],"pose":[199185,1,305820,3141,-1,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:15:19]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 07:15:19]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 07:15:19]: [rm_get_current_arm_state] joint parse result:

[20240707 07:15:19]:  24

[20240707 07:15:19]:  1288

[20240707 07:15:19]:  -104113

[20240707 07:15:19]:  -34

[20240707 07:15:19]:  -77103

[20240707 07:15:19]:  34

[20240707 07:15:19]: [rm_get_current_arm_state] pose parse result:

[20240707 07:15:19]:  199185

[20240707 07:15:19]:  1

[20240707 07:15:19]:  305820

[20240707 07:15:19]:  3141

[20240707 07:15:19]:  -1

[20240707 07:15:19]:  0

[20240707 07:15:19]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 07:15:19]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:15:19]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:15:19]: [rm_movej] receive_state: true

[20240707 07:15:22]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:15:22]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:15:22]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:15:22]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:15:22]: [rm_movej_p] receive_state: true

[20240707 07:15:26]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:15:26]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:15:26]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:15:26]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:15:26]: [rm_set_force_position] set_state: true

[20240707 07:15:26]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:15:26]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:15:26]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:15:26]: [rm_movel] receive_state: true

[20240707 07:15:27]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:15:27]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:15:27]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:15:27]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:15:27]: [rm_movel] receive_state: true

[20240707 07:15:27]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:15:27]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:15:27]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 07:15:28]: send is: {"command":"stop_force_position"}


[20240707 07:15:28]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:15:28]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:15:28]: [rm_stop_force_position] stop_state: true

[20240707 07:15:28]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:15:28]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:15:28]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:15:28]: [rm_set_force_position] set_state: true

[20240707 07:15:28]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:15:28]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:15:28]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:15:28]: [rm_movel] receive_state: true

[20240707 07:15:28]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:15:28]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:15:28]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:15:29]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:15:29]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:15:29]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:15:29]: [rm_movel] receive_state: true

[20240707 07:15:30]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:15:30]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:15:30]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:15:30]: send is: {"command":"stop_force_position"}


[20240707 07:15:30]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:15:30]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:15:30]: [rm_stop_force_position] stop_state: true

[20240707 07:15:30]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:15:30]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:15:30]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:15:30]: [rm_set_force_position] set_state: true

[20240707 07:15:30]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:15:30]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:15:30]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:15:30]: [rm_movel] receive_state: true

[20240707 07:15:32]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:15:32]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:15:32]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:15:32]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:15:32]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:15:32]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:15:32]: [rm_movel] receive_state: true

[20240707 07:15:33]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:15:33]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:15:33]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:15:34]: send is: {"command":"stop_force_position"}


[20240707 07:15:34]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:15:34]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:15:34]: [rm_stop_force_position] stop_state: true

[20240707 07:15:46] Begin API Testing.
[20240707 07:15:46]: send is: {"command":"get_arm_software_info"}


[20240707 07:15:46]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:15:46]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:15:46]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 07:15:46]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 07:15:46]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 07:15:46]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 07:15:46]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 07:15:46]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 07:15:46]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 07:15:46]: send is: {"command":"get_realtime_push"}


[20240707 07:15:46]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:15:46]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:15:46]: [rm_get_realtime_push] cycle parse result: 5

[20240707 07:15:46]: [rm_get_realtime_push] port parse result: 8089

[20240707 07:15:46]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 07:15:46]: [rm_get_realtime_push] enable parse result: 1

[20240707 07:15:46]: send is: {"command":"get_current_work_frame"}


[20240707 07:15:46]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:15:46]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:15:46]: [get_current_work_frame] Work frame Name: World

[20240707 07:15:46]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:15:46]: send is: {"command":"get_current_tool_frame"}


[20240707 07:15:46]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:15:46]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:15:46]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 07:15:46]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:15:46]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 07:15:46]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 07:15:46]: send is: {"command":"get_install_pose"}


[20240707 07:15:46]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:15:46]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:15:46]: [rm_get_install_pose] pose parse result:

[20240707 07:15:46]:  0

[20240707 07:15:46]:  0

[20240707 07:15:46]:  0

[20240707 07:15:46]: send is: {"command":"get_joint_min_pos"}


[20240707 07:15:46]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:15:46]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:15:46]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 07:15:46]:  -178000

[20240707 07:15:46]:  -130000

[20240707 07:15:46]:  -135000

[20240707 07:15:46]:  -178000

[20240707 07:15:46]:  -128000

[20240707 07:15:46]:  -360000

[20240707 07:15:46]: send is: {"command":"get_joint_max_pos"}


[20240707 07:15:46]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:15:46]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:15:46]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 07:15:46]:  178000

[20240707 07:15:46]:  130000

[20240707 07:15:46]:  135000

[20240707 07:15:46]:  178000

[20240707 07:15:46]:  128000

[20240707 07:15:46]:  360000

[20240707 07:15:46]: send is: {"command":"get_joint_max_acc"}


[20240707 07:15:46]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:15:46]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:15:46]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 07:15:46]:  100000

[20240707 07:15:46]:  100000

[20240707 07:15:46]:  100000

[20240707 07:15:46]:  100000

[20240707 07:15:46]:  100000

[20240707 07:15:46]:  100000

[20240707 07:15:46]: send is: {"command":"get_joint_max_speed"}


[20240707 07:15:46]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:15:46]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:15:46]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 07:15:46]:  30000

[20240707 07:15:46]:  30000

[20240707 07:15:46]:  37500

[20240707 07:15:46]:  37500

[20240707 07:15:46]:  37500

[20240707 07:15:46]:  37500

[20240707 07:15:46]: send is: {"command":"get_current_arm_state"}


[20240707 07:15:46]: thread_socket_receive len 146 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[13,-20698,-74267,-31,-84920,15],"pose":[299980,-7,317799,3141,-1,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:15:46]: thread_socket_receive len 146 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[13,-20698,-74267,-31,-84920,15],"pose":[299980,-7,317799,3141,-1,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:15:46]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 07:15:46]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 07:15:46]: [rm_get_current_arm_state] joint parse result:

[20240707 07:15:46]:  13

[20240707 07:15:46]:  -20698

[20240707 07:15:46]:  -74267

[20240707 07:15:46]:  -31

[20240707 07:15:46]:  -84920

[20240707 07:15:46]:  15

[20240707 07:15:46]: [rm_get_current_arm_state] pose parse result:

[20240707 07:15:46]:  299980

[20240707 07:15:46]:  -7

[20240707 07:15:46]:  317799

[20240707 07:15:46]:  3141

[20240707 07:15:46]:  -1

[20240707 07:15:46]:  0

[20240707 07:15:46]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 07:15:46]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:15:46]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:15:46]: [rm_movej] receive_state: true

[20240707 07:15:49]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:15:49]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:15:49]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:15:49]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:15:49]: [rm_movej_p] receive_state: true

[20240707 07:15:53]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:15:53]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:15:53]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:15:53]: [rm_set_force_position] set_state: true

[20240707 07:15:53]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:15:53]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:15:53]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:15:53]: [rm_movel] receive_state: true

[20240707 07:15:53]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:15:53]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:15:53]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:15:53]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:15:53]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:15:53]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:15:53]: [rm_movel] receive_state: true

[20240707 07:15:54]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:15:54]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:15:54]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:15:54]: send is: {"command":"stop_force_position"}


[20240707 07:15:54]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:15:54]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:15:54]: [rm_stop_force_position] stop_state: true

[20240707 07:15:54]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:15:54]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:15:54]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:15:54]: [rm_set_force_position] set_state: true

[20240707 07:15:54]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:15:54]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:15:54]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:15:54]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:15:54]: [rm_movel] receive_state: true

[20240707 07:15:55]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:15:55]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:15:55]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:15:55]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:15:56]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:15:56]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:15:56]: [rm_movel] receive_state: true

[20240707 07:15:57]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:15:57]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:15:57]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:15:57]: send is: {"command":"stop_force_position"}


[20240707 07:15:57]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:15:57]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:15:57]: [rm_stop_force_position] stop_state: true

[20240707 07:15:57]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:15:57]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:15:57]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:15:57]: [rm_set_force_position] set_state: true

[20240707 07:15:57]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:15:57]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:15:57]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:15:57]: [rm_movel] receive_state: true

[20240707 07:15:58]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:15:58]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:15:58]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:15:59]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:15:59]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:15:59]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:15:59]: [rm_movel] receive_state: true

[20240707 07:16:01]: send is: {"command":"stop_force_position"}


[20240707 07:16:01]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:16:01]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:16:01]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:16:01]: [rm_stop_force_position] stop_state: true

[20240707 07:16:01]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:16:01]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:16:01]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:16:01]: [rm_set_force_position] set_state: true

[20240707 07:16:01]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:16:01]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:16:01]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:16:01]: [rm_movel] receive_state: true

[20240707 07:16:02]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:16:02]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:16:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:16:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:16:02]: [rm_movel] receive_state: true

[20240707 07:16:03]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:16:03]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:16:03]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 07:16:03]: send is: {"command":"stop_force_position"}


[20240707 07:16:03]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:16:03]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:16:03]: [rm_stop_force_position] stop_state: true

[20240707 07:16:03]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:16:03]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:16:03]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:16:03]: [rm_set_force_position] set_state: true

[20240707 07:16:03]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:16:03]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:16:03]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:16:03]: [rm_movel] receive_state: true

[20240707 07:16:04]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:16:04]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:16:04]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:16:05]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:16:05]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:16:05]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:16:05]: [rm_movel] receive_state: true

[20240707 07:16:06]: send is: {"command":"stop_force_position"}


[20240707 07:16:06]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:16:06]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:16:06]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:16:06]: [rm_stop_force_position] stop_state: true

[20240707 07:16:06]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:16:06]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:16:06]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:16:06]: [rm_set_force_position] set_state: true

[20240707 07:16:06]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:16:07]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:16:07]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:16:07]: [rm_movel] receive_state: true

[20240707 07:16:08]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:16:08]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:16:08]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:16:08]: [rm_movel] receive_state: true

[20240707 07:16:08]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:16:08]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:16:08]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:16:09]: send is: {"command":"stop_force_position"}


[20240707 07:16:09]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:16:09]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:16:09]: [rm_stop_force_position] stop_state: true

[20240707 07:16:57] Begin API Testing.
[20240707 07:16:57]: send is: {"command":"get_arm_software_info"}


[20240707 07:16:57]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:16:57]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:16:57]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 07:16:57]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 07:16:57]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 07:16:57]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 07:16:57]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 07:16:57]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 07:16:57]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 07:16:57]: send is: {"command":"get_realtime_push"}


[20240707 07:16:57]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:16:57]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:16:57]: [rm_get_realtime_push] cycle parse result: 5

[20240707 07:16:57]: [rm_get_realtime_push] port parse result: 8089

[20240707 07:16:57]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 07:16:57]: [rm_get_realtime_push] enable parse result: 1

[20240707 07:16:57]: send is: {"command":"get_current_work_frame"}


[20240707 07:16:57]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:16:57]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:16:57]: [get_current_work_frame] Work frame Name: World

[20240707 07:16:57]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:16:57]: send is: {"command":"get_current_tool_frame"}


[20240707 07:16:57]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:16:57]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:16:57]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 07:16:57]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:16:57]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 07:16:57]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 07:16:57]: send is: {"command":"get_install_pose"}


[20240707 07:16:57]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:16:57]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:16:57]: [rm_get_install_pose] pose parse result:

[20240707 07:16:57]:  0

[20240707 07:16:57]:  0

[20240707 07:16:57]:  0

[20240707 07:16:57]: send is: {"command":"get_joint_min_pos"}


[20240707 07:16:57]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:16:57]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:16:57]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 07:16:57]:  -178000

[20240707 07:16:57]:  -130000

[20240707 07:16:57]:  -135000

[20240707 07:16:57]:  -178000

[20240707 07:16:57]:  -128000

[20240707 07:16:57]:  -360000

[20240707 07:16:57]: send is: {"command":"get_joint_max_pos"}


[20240707 07:16:57]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:16:57]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:16:57]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 07:16:57]:  178000

[20240707 07:16:57]:  130000

[20240707 07:16:57]:  135000

[20240707 07:16:57]:  178000

[20240707 07:16:57]:  128000

[20240707 07:16:57]:  360000

[20240707 07:16:57]: send is: {"command":"get_joint_max_acc"}


[20240707 07:16:57]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:16:57]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:16:57]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 07:16:57]:  100000

[20240707 07:16:57]:  100000

[20240707 07:16:57]:  100000

[20240707 07:16:57]:  100000

[20240707 07:16:57]:  100000

[20240707 07:16:57]:  100000

[20240707 07:16:57]: send is: {"command":"get_joint_max_speed"}


[20240707 07:16:57]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:16:57]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:16:57]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 07:16:57]:  30000

[20240707 07:16:57]:  30000

[20240707 07:16:57]:  37500

[20240707 07:16:57]:  37500

[20240707 07:16:57]:  37500

[20240707 07:16:57]:  37500

[20240707 07:16:57]: send is: {"command":"get_current_arm_state"}


[20240707 07:16:57]: thread_socket_receive len 146 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[23,-15860,-118705,-43,-45420,57],"pose":[219609,10,195391,3141,0,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:16:57]: thread_socket_receive len 146 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[23,-15860,-118705,-43,-45420,57],"pose":[219609,10,195391,3141,0,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:16:57]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 07:16:57]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 07:16:57]: [rm_get_current_arm_state] joint parse result:

[20240707 07:16:57]:  23

[20240707 07:16:57]:  -15860

[20240707 07:16:57]:  -118705

[20240707 07:16:57]:  -43

[20240707 07:16:57]:  -45420

[20240707 07:16:57]:  57

[20240707 07:16:57]: [rm_get_current_arm_state] pose parse result:

[20240707 07:16:57]:  219609

[20240707 07:16:57]:  10

[20240707 07:16:57]:  195391

[20240707 07:16:57]:  3141

[20240707 07:16:57]:  0

[20240707 07:16:57]:  0

[20240707 07:16:57]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 07:16:57]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:16:57]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:16:57]: [rm_movej] receive_state: true

[20240707 07:17:00]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:17:00]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:17:00]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:17:00]: [rm_movej_p] receive_state: true

[20240707 07:17:00]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:00]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:00]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:17:02]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:17:02]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:17:02]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:17:02]: [rm_set_force_position] set_state: true

[20240707 07:17:02]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:17:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:02]: [rm_movel] receive_state: true

[20240707 07:17:04]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:04]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:04]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:17:04]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:17:04]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:04]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:04]: [rm_movel] receive_state: true

[20240707 07:17:05]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:05]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:05]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:17:06]: send is: {"command":"stop_force_position"}


[20240707 07:17:06]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:17:06]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:17:06]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:17:06]: [rm_stop_force_position] stop_state: true

[20240707 07:17:06]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:17:06]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:17:06]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:17:06]: [rm_set_force_position] set_state: true

[20240707 07:17:06]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:17:06]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:06]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:06]: [rm_movel] receive_state: true

[20240707 07:17:06]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:06]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:06]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:17:07]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:17:07]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:07]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:07]: [rm_movel] receive_state: true

[20240707 07:17:08]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:08]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:08]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:17:08]: send is: {"command":"stop_force_position"}


[20240707 07:17:08]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:17:08]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:17:08]: [rm_stop_force_position] stop_state: true

[20240707 07:17:08]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:17:08]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:17:08]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:17:08]: [rm_set_force_position] set_state: true

[20240707 07:17:08]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:17:08]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:08]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:08]: [rm_movel] receive_state: true

[20240707 07:17:09]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:09]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:09]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:17:10]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:17:10]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:10]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:10]: [rm_movel] receive_state: true

[20240707 07:17:11]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:11]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:11]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:17:12]: send is: {"command":"stop_force_position"}


[20240707 07:17:12]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:17:12]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:17:12]: [rm_stop_force_position] stop_state: true

[20240707 07:17:12]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:17:12]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:17:12]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:17:12]: [rm_set_force_position] set_state: true

[20240707 07:17:12]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:17:12]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:12]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:12]: [rm_movel] receive_state: true

[20240707 07:17:13]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:17:13]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:13]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:13]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:13]: [rm_movel] receive_state: true

[20240707 07:17:15]: send is: {"command":"stop_force_position"}


[20240707 07:17:15]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:15]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:17:15]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:17:15]: [rm_stop_force_position] stop_state: true

[20240707 07:17:15]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:17:15]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:17:15]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:17:15]: [rm_set_force_position] set_state: true

[20240707 07:17:15]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:17:15]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:15]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:15]: [rm_movel] receive_state: true

[20240707 07:17:17]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:17:17]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:17]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:17]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:17]: [rm_movel] receive_state: true

[20240707 07:17:17]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:17:17]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:17:17]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 07:17:18]: send is: {"command":"stop_force_position"}


[20240707 07:17:18]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:17:18]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:17:18]: [rm_stop_force_position] stop_state: true

[20240707 07:17:18]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:17:18]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:17:18]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:17:18]: [rm_set_force_position] set_state: true

[20240707 07:17:18]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:17:18]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:18]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:18]: [rm_movel] receive_state: true

[20240707 07:17:19]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:17:19]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:19]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:19]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:19]: [rm_movel] receive_state: true

[20240707 07:17:20]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:17:20]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:17:20]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 07:17:20]: send is: {"command":"stop_force_position"}


[20240707 07:17:20]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:17:20]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:17:20]: [rm_stop_force_position] stop_state: true

[20240707 07:17:49] Begin API Testing.
[20240707 07:17:49]: send is: {"command":"get_arm_software_info"}


[20240707 07:17:49]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:17:49]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:17:49]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 07:17:49]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 07:17:49]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 07:17:49]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 07:17:49]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 07:17:49]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 07:17:49]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 07:17:49]: send is: {"command":"get_realtime_push"}


[20240707 07:17:49]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:17:49]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:17:49]: [rm_get_realtime_push] cycle parse result: 5

[20240707 07:17:49]: [rm_get_realtime_push] port parse result: 8089

[20240707 07:17:49]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 07:17:49]: [rm_get_realtime_push] enable parse result: 1

[20240707 07:17:49]: send is: {"command":"get_current_work_frame"}


[20240707 07:17:49]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:17:49]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:17:49]: [get_current_work_frame] Work frame Name: World

[20240707 07:17:49]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:17:49]: send is: {"command":"get_current_tool_frame"}


[20240707 07:17:49]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:17:49]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:17:49]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 07:17:49]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:17:49]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 07:17:49]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 07:17:49]: send is: {"command":"get_install_pose"}


[20240707 07:17:49]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:17:49]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:17:49]: [rm_get_install_pose] pose parse result:

[20240707 07:17:49]:  0

[20240707 07:17:49]:  0

[20240707 07:17:49]:  0

[20240707 07:17:49]: send is: {"command":"get_joint_min_pos"}


[20240707 07:17:49]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:17:49]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:17:49]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 07:17:49]:  -178000

[20240707 07:17:49]:  -130000

[20240707 07:17:49]:  -135000

[20240707 07:17:49]:  -178000

[20240707 07:17:49]:  -128000

[20240707 07:17:49]:  -360000

[20240707 07:17:49]: send is: {"command":"get_joint_max_pos"}


[20240707 07:17:49]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:17:49]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:17:49]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 07:17:49]:  178000

[20240707 07:17:49]:  130000

[20240707 07:17:49]:  135000

[20240707 07:17:49]:  178000

[20240707 07:17:49]:  128000

[20240707 07:17:49]:  360000

[20240707 07:17:49]: send is: {"command":"get_joint_max_acc"}


[20240707 07:17:49]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:17:49]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:17:49]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 07:17:49]:  100000

[20240707 07:17:49]:  100000

[20240707 07:17:49]:  100000

[20240707 07:17:49]:  100000

[20240707 07:17:49]:  100000

[20240707 07:17:49]:  100000

[20240707 07:17:49]: send is: {"command":"get_joint_max_speed"}


[20240707 07:17:49]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:17:49]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:17:49]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 07:17:49]:  30000

[20240707 07:17:49]:  30000

[20240707 07:17:49]:  37500

[20240707 07:17:49]:  37500

[20240707 07:17:49]:  37500

[20240707 07:17:49]:  37500

[20240707 07:17:49]: send is: {"command":"get_current_arm_state"}


[20240707 07:17:49]: thread_socket_receive len 145 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[28,-8304,-120864,-50,-50745,50],"pose":[199998,1,217177,3140,-1,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:17:49]: thread_socket_receive len 145 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[28,-8304,-120864,-50,-50745,50],"pose":[199998,1,217177,3140,-1,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:17:49]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 07:17:49]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 07:17:49]: [rm_get_current_arm_state] joint parse result:

[20240707 07:17:49]:  28

[20240707 07:17:49]:  -8304

[20240707 07:17:49]:  -120864

[20240707 07:17:49]:  -50

[20240707 07:17:49]:  -50745

[20240707 07:17:49]:  50

[20240707 07:17:49]: [rm_get_current_arm_state] pose parse result:

[20240707 07:17:49]:  199998

[20240707 07:17:49]:  1

[20240707 07:17:49]:  217177

[20240707 07:17:49]:  3140

[20240707 07:17:49]:  -1

[20240707 07:17:49]:  0

[20240707 07:17:49]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 07:17:49]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:17:49]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:17:49]: [rm_movej] receive_state: true

[20240707 07:17:53]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:17:53]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:17:53]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:17:53]: [rm_movej_p] receive_state: true

[20240707 07:17:53]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:53]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:53]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:17:55]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:17:55]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:17:55]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:17:55]: [rm_set_force_position] set_state: true

[20240707 07:17:55]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:17:55]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:55]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:55]: [rm_movel] receive_state: true

[20240707 07:17:56]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:56]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:56]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:17:57]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:17:57]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:57]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:57]: [rm_movel] receive_state: true

[20240707 07:17:57]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:57]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:57]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:17:58]: send is: {"command":"stop_force_position"}


[20240707 07:17:58]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:17:58]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:17:58]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:17:58]: [rm_stop_force_position] stop_state: true

[20240707 07:17:58]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:17:58]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:17:58]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:17:58]: [rm_set_force_position] set_state: true

[20240707 07:17:58]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:17:58]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:58]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:58]: [rm_movel] receive_state: true

[20240707 07:17:58]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:58]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:17:58]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:17:59]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:17:59]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:59]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:17:59]: [rm_movel] receive_state: true

[20240707 07:18:00]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:18:00]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:18:00]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:18:00]: send is: {"command":"stop_force_position"}


[20240707 07:18:00]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:18:00]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:18:00]: [rm_stop_force_position] stop_state: true

[20240707 07:18:38] Begin API Testing.
[20240707 07:18:38]: send is: {"command":"get_arm_software_info"}


[20240707 07:18:38]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:18:38]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:18:38]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 07:18:38]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 07:18:38]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 07:18:38]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 07:18:38]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 07:18:38]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 07:18:38]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 07:18:38]: send is: {"command":"get_realtime_push"}


[20240707 07:18:38]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:18:38]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:18:38]: [rm_get_realtime_push] cycle parse result: 5

[20240707 07:18:38]: [rm_get_realtime_push] port parse result: 8089

[20240707 07:18:38]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 07:18:38]: [rm_get_realtime_push] enable parse result: 1

[20240707 07:18:38]: send is: {"command":"get_current_work_frame"}


[20240707 07:18:38]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:18:38]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:18:38]: [get_current_work_frame] Work frame Name: World

[20240707 07:18:38]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:18:38]: send is: {"command":"get_current_tool_frame"}


[20240707 07:18:38]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:18:38]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:18:38]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 07:18:38]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:18:38]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 07:18:38]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 07:18:38]: send is: {"command":"get_install_pose"}


[20240707 07:18:38]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:18:38]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:18:38]: [rm_get_install_pose] pose parse result:

[20240707 07:18:38]:  0

[20240707 07:18:38]:  0

[20240707 07:18:38]:  0

[20240707 07:18:38]: send is: {"command":"get_joint_min_pos"}


[20240707 07:18:38]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:18:38]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:18:38]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 07:18:38]:  -178000

[20240707 07:18:38]:  -130000

[20240707 07:18:38]:  -135000

[20240707 07:18:38]:  -178000

[20240707 07:18:38]:  -128000

[20240707 07:18:38]:  -360000

[20240707 07:18:38]: send is: {"command":"get_joint_max_pos"}


[20240707 07:18:38]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:18:38]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:18:38]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 07:18:38]:  178000

[20240707 07:18:38]:  130000

[20240707 07:18:38]:  135000

[20240707 07:18:38]:  178000

[20240707 07:18:38]:  128000

[20240707 07:18:38]:  360000

[20240707 07:18:38]: send is: {"command":"get_joint_max_acc"}


[20240707 07:18:38]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:18:38]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:18:38]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 07:18:38]:  100000

[20240707 07:18:38]:  100000

[20240707 07:18:38]:  100000

[20240707 07:18:38]:  100000

[20240707 07:18:38]:  100000

[20240707 07:18:38]:  100000

[20240707 07:18:38]: send is: {"command":"get_joint_max_speed"}


[20240707 07:18:38]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:18:38]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:18:38]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 07:18:38]:  30000

[20240707 07:18:38]:  30000

[20240707 07:18:38]:  37500

[20240707 07:18:38]:  37500

[20240707 07:18:38]:  37500

[20240707 07:18:38]:  37500

[20240707 07:18:38]: send is: {"command":"get_current_arm_state"}


[20240707 07:18:38]: thread_socket_receive len 144 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[27,-20871,-63172,-56,-95984,16],"pose":[299999,3,357492,3140,0,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:18:38]: thread_socket_receive len 144 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[27,-20871,-63172,-56,-95984,16],"pose":[299999,3,357492,3140,0,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:18:38]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 07:18:38]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 07:18:38]: [rm_get_current_arm_state] joint parse result:

[20240707 07:18:38]:  27

[20240707 07:18:38]:  -20871

[20240707 07:18:38]:  -63172

[20240707 07:18:38]:  -56

[20240707 07:18:38]:  -95984

[20240707 07:18:38]:  16

[20240707 07:18:38]: [rm_get_current_arm_state] pose parse result:

[20240707 07:18:38]:  299999

[20240707 07:18:38]:  3

[20240707 07:18:38]:  357492

[20240707 07:18:38]:  3140

[20240707 07:18:38]:  0

[20240707 07:18:38]:  0

[20240707 07:18:38]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 07:18:38]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:18:38]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:18:38]: [rm_movej] receive_state: true

[20240707 07:18:42]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:18:42]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:18:42]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:18:42]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:18:42]: [rm_movej_p] receive_state: true

[20240707 07:18:45]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:18:45]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:18:45]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:18:45]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:18:45]: [rm_set_force_position] set_state: true

[20240707 07:18:45]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:18:45]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:18:45]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:18:45]: [rm_movel] receive_state: true

[20240707 07:18:46]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:18:46]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:18:46]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:18:47]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:18:47]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:18:47]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:18:47]: [rm_movel] receive_state: true

[20240707 07:18:48]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:18:48]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:18:48]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:18:48]: send is: {"command":"stop_force_position"}


[20240707 07:18:48]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:18:48]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:18:48]: [rm_stop_force_position] stop_state: true

[20240707 07:18:48]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:18:48]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:18:48]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:18:48]: [rm_set_force_position] set_state: true

[20240707 07:18:48]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:18:48]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:18:48]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:18:48]: [rm_movel] receive_state: true

[20240707 07:18:49]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:18:49]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:18:49]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:18:50]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:18:50]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:18:50]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:18:50]: [rm_movel] receive_state: true

[20240707 07:18:51]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:18:51]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:18:51]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:18:52]: send is: {"command":"stop_force_position"}


[20240707 07:18:52]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:18:52]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:18:52]: [rm_stop_force_position] stop_state: true

[20240707 07:18:52]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:18:52]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:18:52]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:18:52]: [rm_set_force_position] set_state: true

[20240707 07:18:52]: send is: {"command":"movel","v":50,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:18:52]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:18:52]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:18:52]: [rm_movel] receive_state: true

[20240707 07:18:53]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:18:53]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:18:53]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:18:53]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:18:53]: [rm_movel] receive_state: true

[20240707 07:18:53]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:18:53]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:18:53]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 07:18:54]: send is: {"command":"stop_force_position"}


[20240707 07:18:54]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:18:54]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:18:54]: [rm_stop_force_position] stop_state: true

[20240707 07:19:56] Begin API Testing.
[20240707 07:19:56]: send is: {"command":"get_arm_software_info"}


[20240707 07:19:56]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:19:56]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:19:56]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 07:19:56]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 07:19:56]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 07:19:56]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 07:19:56]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 07:19:56]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 07:19:56]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 07:19:56]: send is: {"command":"get_realtime_push"}


[20240707 07:19:56]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:19:56]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:19:56]: [rm_get_realtime_push] cycle parse result: 5

[20240707 07:19:56]: [rm_get_realtime_push] port parse result: 8089

[20240707 07:19:56]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 07:19:56]: [rm_get_realtime_push] enable parse result: 1

[20240707 07:19:56]: send is: {"command":"get_current_work_frame"}


[20240707 07:19:56]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:19:56]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:19:56]: [get_current_work_frame] Work frame Name: World

[20240707 07:19:56]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:19:56]: send is: {"command":"get_current_tool_frame"}


[20240707 07:19:56]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:19:56]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:19:56]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 07:19:56]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:19:56]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 07:19:56]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 07:19:56]: send is: {"command":"get_install_pose"}


[20240707 07:19:56]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:19:56]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:19:56]: [rm_get_install_pose] pose parse result:

[20240707 07:19:56]:  0

[20240707 07:19:56]:  0

[20240707 07:19:56]:  0

[20240707 07:19:56]: send is: {"command":"get_joint_min_pos"}


[20240707 07:19:56]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:19:56]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:19:56]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 07:19:56]:  -178000

[20240707 07:19:56]:  -130000

[20240707 07:19:56]:  -135000

[20240707 07:19:56]:  -178000

[20240707 07:19:56]:  -128000

[20240707 07:19:56]:  -360000

[20240707 07:19:56]: send is: {"command":"get_joint_max_pos"}


[20240707 07:19:56]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:19:56]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:19:56]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 07:19:56]:  178000

[20240707 07:19:56]:  130000

[20240707 07:19:56]:  135000

[20240707 07:19:56]:  178000

[20240707 07:19:56]:  128000

[20240707 07:19:56]:  360000

[20240707 07:19:56]: send is: {"command":"get_joint_max_acc"}


[20240707 07:19:56]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:19:56]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:19:56]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 07:19:56]:  100000

[20240707 07:19:56]:  100000

[20240707 07:19:56]:  100000

[20240707 07:19:56]:  100000

[20240707 07:19:56]:  100000

[20240707 07:19:56]:  100000

[20240707 07:19:56]: send is: {"command":"get_joint_max_speed"}


[20240707 07:19:56]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:19:56]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:19:56]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 07:19:56]:  30000

[20240707 07:19:56]:  30000

[20240707 07:19:56]:  37500

[20240707 07:19:56]:  37500

[20240707 07:19:56]:  37500

[20240707 07:19:56]:  37500

[20240707 07:19:56]: send is: {"command":"get_current_arm_state"}


[20240707 07:19:56]: thread_socket_receive len 144 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[27,1370,-104297,-38,-76810,36],"pose":[199214,1,305450,3140,-4,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:19:56]: thread_socket_receive len 144 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[27,1370,-104297,-38,-76810,36],"pose":[199214,1,305450,3140,-4,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:19:56]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 07:19:56]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 07:19:56]: [rm_get_current_arm_state] joint parse result:

[20240707 07:19:56]:  27

[20240707 07:19:56]:  1370

[20240707 07:19:56]:  -104297

[20240707 07:19:56]:  -38

[20240707 07:19:56]:  -76810

[20240707 07:19:56]:  36

[20240707 07:19:56]: [rm_get_current_arm_state] pose parse result:

[20240707 07:19:56]:  199214

[20240707 07:19:56]:  1

[20240707 07:19:56]:  305450

[20240707 07:19:56]:  3140

[20240707 07:19:56]:  -4

[20240707 07:19:56]:  0

[20240707 07:19:56]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 07:19:56]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:19:56]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:19:56]: [rm_movej] receive_state: true

[20240707 07:19:59]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:19:59]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:19:59]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:19:59]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:19:59]: [rm_movej_p] receive_state: true

[20240707 07:20:02]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:20:02]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:20:02]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:20:02]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:20:02]: [rm_set_force_position] set_state: true

[20240707 07:20:02]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:20:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:20:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:20:02]: [rm_movel] receive_state: true

[20240707 07:20:03]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:20:03]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:20:03]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:20:04]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:20:04]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:20:04]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:20:04]: [rm_movel] receive_state: true

[20240707 07:20:05]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:20:05]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:20:05]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:20:06]: send is: {"command":"stop_force_position"}


[20240707 07:20:06]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:20:06]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:20:06]: [rm_stop_force_position] stop_state: true

[20240707 07:20:06]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:20:06]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:20:06]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:20:06]: [rm_set_force_position] set_state: true

[20240707 07:20:06]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:20:06]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:20:06]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:20:06]: [rm_movel] receive_state: true

[20240707 07:20:07]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:20:07]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:20:07]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:20:07]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:20:07]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:20:07]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:20:07]: [rm_movel] receive_state: true

[20240707 07:20:08]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:20:08]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:20:08]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:20:09]: send is: {"command":"stop_force_position"}


[20240707 07:20:09]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:20:09]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:20:09]: [rm_stop_force_position] stop_state: true

[20240707 07:20:09]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:20:09]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:20:09]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:20:09]: [rm_set_force_position] set_state: true

[20240707 07:20:09]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:20:09]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:20:09]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:20:09]: [rm_movel] receive_state: true

[20240707 07:20:10]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:20:10]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:20:10]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:20:10]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:20:10]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:20:10]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:20:10]: [rm_movel] receive_state: true

[20240707 07:20:12]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:20:12]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:20:12]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:20:12]: send is: {"command":"stop_force_position"}


[20240707 07:20:12]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:20:12]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:20:12]: [rm_stop_force_position] stop_state: true

[20240707 07:20:38] Begin API Testing.
[20240707 07:20:38]: send is: {"command":"get_arm_software_info"}


[20240707 07:20:38]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:20:38]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}


[20240707 07:20:38]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 07:20:38]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 07:20:38]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 07:20:38]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 07:20:38]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 07:20:38]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 07:20:38]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 07:20:38]: send is: {"command":"get_realtime_push"}


[20240707 07:20:38]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:20:38]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}


[20240707 07:20:38]: [rm_get_realtime_push] cycle parse result: 5

[20240707 07:20:38]: [rm_get_realtime_push] port parse result: 8089

[20240707 07:20:38]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 07:20:38]: [rm_get_realtime_push] enable parse result: 1

[20240707 07:20:38]: send is: {"command":"get_current_work_frame"}


[20240707 07:20:38]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:20:38]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}


[20240707 07:20:38]: [get_current_work_frame] Work frame Name: World

[20240707 07:20:38]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:20:38]: send is: {"command":"get_current_tool_frame"}


[20240707 07:20:38]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:20:38]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}


[20240707 07:20:38]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 07:20:38]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 07:20:38]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 07:20:38]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 07:20:38]: send is: {"command":"get_install_pose"}


[20240707 07:20:38]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:20:38]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}


[20240707 07:20:38]: [rm_get_install_pose] pose parse result:

[20240707 07:20:38]:  0

[20240707 07:20:38]:  0

[20240707 07:20:38]:  0

[20240707 07:20:38]: send is: {"command":"get_joint_min_pos"}


[20240707 07:20:38]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:20:38]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}


[20240707 07:20:38]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 07:20:38]:  -178000

[20240707 07:20:38]:  -130000

[20240707 07:20:38]:  -135000

[20240707 07:20:38]:  -178000

[20240707 07:20:38]:  -128000

[20240707 07:20:38]:  -360000

[20240707 07:20:38]: send is: {"command":"get_joint_max_pos"}


[20240707 07:20:38]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:20:38]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}


[20240707 07:20:38]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 07:20:38]:  178000

[20240707 07:20:38]:  130000

[20240707 07:20:38]:  135000

[20240707 07:20:38]:  178000

[20240707 07:20:38]:  128000

[20240707 07:20:38]:  360000

[20240707 07:20:38]: send is: {"command":"get_joint_max_acc"}


[20240707 07:20:38]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:20:38]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}


[20240707 07:20:38]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 07:20:38]:  100000

[20240707 07:20:38]:  100000

[20240707 07:20:38]:  100000

[20240707 07:20:38]:  100000

[20240707 07:20:38]:  100000

[20240707 07:20:38]:  100000

[20240707 07:20:38]: send is: {"command":"get_joint_max_speed"}


[20240707 07:20:38]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:20:38]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}


[20240707 07:20:38]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 07:20:38]:  30000

[20240707 07:20:38]:  30000

[20240707 07:20:38]:  37500

[20240707 07:20:38]:  37500

[20240707 07:20:38]:  37500

[20240707 07:20:38]:  37500

[20240707 07:20:38]: send is: {"command":"get_current_arm_state"}


[20240707 07:20:38]: thread_socket_receive len 145 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[15,-21610,-79980,-32,-78405,24],"pose":[300010,-1,292314,3141,0,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:20:38]: thread_socket_receive len 145 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[15,-21610,-79980,-32,-78405,24],"pose":[300010,-1,292314,3141,0,0],"sys_err":0},"state":"current_arm_state"}


[20240707 07:20:38]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 07:20:38]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 07:20:38]: [rm_get_current_arm_state] joint parse result:

[20240707 07:20:38]:  15

[20240707 07:20:38]:  -21610

[20240707 07:20:38]:  -79980

[20240707 07:20:38]:  -32

[20240707 07:20:38]:  -78405

[20240707 07:20:38]:  24

[20240707 07:20:38]: [rm_get_current_arm_state] pose parse result:

[20240707 07:20:38]:  300010

[20240707 07:20:38]:  -1

[20240707 07:20:38]:  292314

[20240707 07:20:38]:  3141

[20240707 07:20:38]:  0

[20240707 07:20:38]:  0

[20240707 07:20:38]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}


[20240707 07:20:38]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:20:38]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}


[20240707 07:20:38]: [rm_movej] receive_state: true

[20240707 07:20:42]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:20:42]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:20:42]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:20:42]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}


[20240707 07:20:42]: [rm_movej_p] receive_state: true

[20240707 07:20:45]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:20:45]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:20:45]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:20:45]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:20:45]: [rm_set_force_position] set_state: true

[20240707 07:20:45]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:20:45]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:20:45]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:20:45]: [rm_movel] receive_state: true

[20240707 07:20:46]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:20:46]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:20:46]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:20:47]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:20:47]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:20:47]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:20:47]: [rm_movel] receive_state: true

[20240707 07:20:47]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:20:47]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}


[20240707 07:20:47]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 07:20:47]: send is: {"command":"stop_force_position"}


[20240707 07:20:47]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:20:47]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:20:47]: [rm_stop_force_position] stop_state: true

[20240707 07:20:47]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:20:47]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:20:47]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:20:47]: [rm_set_force_position] set_state: true

[20240707 07:20:47]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:20:47]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:20:47]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:20:47]: [rm_movel] receive_state: true

[20240707 07:20:48]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:20:48]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:20:48]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:20:48]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:20:48]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:20:48]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:20:48]: [rm_movel] receive_state: true

[20240707 07:20:49]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:20:49]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:20:49]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:20:50]: send is: {"command":"stop_force_position"}


[20240707 07:20:50]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:20:50]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:20:50]: [rm_stop_force_position] stop_state: true

[20240707 07:20:50]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}


[20240707 07:20:50]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:20:50]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}


[20240707 07:20:50]: [rm_set_force_position] set_state: true

[20240707 07:20:50]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:20:50]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:20:50]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:20:50]: [rm_movel] receive_state: true

[20240707 07:20:51]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:20:51]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:20:51]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:20:51]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}


[20240707 07:20:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:20:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}


[20240707 07:20:51]: [rm_movel] receive_state: true

[20240707 07:20:52]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:20:52]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}


[20240707 07:20:52]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 07:20:53]: send is: {"command":"stop_force_position"}


[20240707 07:20:53]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:20:53]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}


[20240707 07:20:53]: [rm_stop_force_position] stop_state: true

[20240707 22:23:10] Begin API Testing.
[20240707 22:23:10]: send is: {"command":"get_arm_software_info"}



[20240707 22:23:10]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240707 22:23:10]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240707 22:23:10]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 22:23:10]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 22:23:10]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 22:23:10]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 22:23:10]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 22:23:10]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 22:23:10]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 22:23:10]: send is: {"command":"get_realtime_push"}



[20240707 22:23:10]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240707 22:23:10]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240707 22:23:10]: [rm_get_realtime_push] cycle parse result: 5

[20240707 22:23:10]: [rm_get_realtime_push] port parse result: 8089

[20240707 22:23:10]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 22:23:10]: [rm_get_realtime_push] enable parse result: 1

[20240707 22:23:10]: send is: {"command":"get_current_work_frame"}



[20240707 22:23:10]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240707 22:23:10]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240707 22:23:10]: [get_current_work_frame] Work frame Name: World

[20240707 22:23:10]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 22:23:10]: send is: {"command":"get_current_tool_frame"}



[20240707 22:23:10]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240707 22:23:10]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240707 22:23:10]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 22:23:10]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 22:23:10]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 22:23:10]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 22:23:10]: send is: {"command":"get_install_pose"}



[20240707 22:23:10]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240707 22:23:10]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240707 22:23:10]: [rm_get_install_pose] pose parse result:

[20240707 22:23:10]:  0

[20240707 22:23:10]:  0

[20240707 22:23:10]:  0

[20240707 22:23:10]: send is: {"command":"get_joint_min_pos"}



[20240707 22:23:10]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240707 22:23:10]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240707 22:23:10]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 22:23:10]:  -178000

[20240707 22:23:10]:  -130000

[20240707 22:23:10]:  -135000

[20240707 22:23:10]:  -178000

[20240707 22:23:10]:  -128000

[20240707 22:23:10]:  -360000

[20240707 22:23:10]: send is: {"command":"get_joint_max_pos"}



[20240707 22:23:10]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240707 22:23:10]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240707 22:23:10]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 22:23:10]:  178000

[20240707 22:23:10]:  130000

[20240707 22:23:10]:  135000

[20240707 22:23:10]:  178000

[20240707 22:23:10]:  128000

[20240707 22:23:10]:  360000

[20240707 22:23:10]: send is: {"command":"get_joint_max_acc"}



[20240707 22:23:10]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240707 22:23:10]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240707 22:23:10]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 22:23:10]:  100000

[20240707 22:23:10]:  100000

[20240707 22:23:10]:  100000

[20240707 22:23:10]:  100000

[20240707 22:23:10]:  100000

[20240707 22:23:10]:  100000

[20240707 22:23:10]: send is: {"command":"get_joint_max_speed"}



[20240707 22:23:11]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}



[20240707 22:23:11]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}



[20240707 22:23:11]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 22:23:11]:  30000

[20240707 22:23:11]:  30000

[20240707 22:23:11]:  37500

[20240707 22:23:11]:  37500

[20240707 22:23:11]:  37500

[20240707 22:23:11]:  37500

[20240707 22:23:11]: send is: {"command":"get_current_arm_state"}



[20240707 22:23:11]: thread_socket_receive len 146 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[19,-20573,-72577,-34,-86708,21],"pose":[299998,14,324633,3140,-2,0],"sys_err":0},"state":"current_arm_state"}



[20240707 22:23:11]: thread_socket_receive len 146 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[19,-20573,-72577,-34,-86708,21],"pose":[299998,14,324633,3140,-2,0],"sys_err":0},"state":"current_arm_state"}



[20240707 22:23:11]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 22:23:11]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 22:23:11]: [rm_get_current_arm_state] joint parse result:

[20240707 22:23:11]:  19

[20240707 22:23:11]:  -20573

[20240707 22:23:11]:  -72577

[20240707 22:23:11]:  -34

[20240707 22:23:11]:  -86708

[20240707 22:23:11]:  21

[20240707 22:23:11]: [rm_get_current_arm_state] pose parse result:

[20240707 22:23:11]:  299998

[20240707 22:23:11]:  14

[20240707 22:23:11]:  324633

[20240707 22:23:11]:  3140

[20240707 22:23:11]:  -2

[20240707 22:23:11]:  0

[20240707 22:23:11]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}



[20240707 22:23:11]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240707 22:23:11]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240707 22:23:11]: [rm_movej] receive_state: true

[20240707 22:23:14]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:23:14]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:14]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240707 22:23:14]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240707 22:23:14]: [rm_movej_p] receive_state: true

[20240707 22:23:18]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240707 22:23:18]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:18]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:23:18]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:23:18]: [rm_set_force_position] set_state: true

[20240707 22:23:18]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:23:18]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:23:18]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:23:18]: [rm_movel] receive_state: true

[20240707 22:23:19]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:19]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:19]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:23:19]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:23:19]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:23:19]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:23:19]: [rm_movel] receive_state: true

[20240707 22:23:20]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:20]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:20]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:23:21]: send is: {"command":"stop_force_position"}



[20240707 22:23:21]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:23:21]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:23:21]: [rm_stop_force_position] stop_state: true

[20240707 22:23:21]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240707 22:23:21]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:23:21]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:23:21]: [rm_set_force_position] set_state: true

[20240707 22:23:21]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:23:21]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:23:21]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:23:21]: [rm_movel] receive_state: true

[20240707 22:23:22]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:22]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:22]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:23:22]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:23:22]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:23:22]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:23:22]: [rm_movel] receive_state: true

[20240707 22:23:23]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:23]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:23]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:23:24]: send is: {"command":"stop_force_position"}



[20240707 22:23:24]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:23:24]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:23:24]: [rm_stop_force_position] stop_state: true

[20240707 22:23:24]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240707 22:23:24]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:23:24]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:23:24]: [rm_set_force_position] set_state: true

[20240707 22:23:24]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:23:24]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:23:24]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:23:24]: [rm_movel] receive_state: true

[20240707 22:23:25]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:25]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:25]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:23:26]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:23:26]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:23:26]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:23:26]: [rm_movel] receive_state: true

[20240707 22:23:27]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:27]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:27]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:23:27]: send is: {"command":"stop_force_position"}



[20240707 22:23:28]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:23:28]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:23:28]: [rm_stop_force_position] stop_state: true

[20240707 22:23:34] Begin API Testing.
[20240707 22:23:34]: send is: {"command":"get_arm_software_info"}



[20240707 22:23:34]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240707 22:23:34]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240707 22:23:34]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 22:23:34]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 22:23:34]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 22:23:34]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 22:23:34]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 22:23:34]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 22:23:34]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 22:23:34]: send is: {"command":"get_realtime_push"}



[20240707 22:23:34]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240707 22:23:34]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240707 22:23:34]: [rm_get_realtime_push] cycle parse result: 5

[20240707 22:23:34]: [rm_get_realtime_push] port parse result: 8089

[20240707 22:23:34]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 22:23:34]: [rm_get_realtime_push] enable parse result: 1

[20240707 22:23:34]: send is: {"command":"get_current_work_frame"}



[20240707 22:23:34]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240707 22:23:34]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240707 22:23:34]: [get_current_work_frame] Work frame Name: World

[20240707 22:23:34]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 22:23:34]: send is: {"command":"get_current_tool_frame"}



[20240707 22:23:34]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240707 22:23:34]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240707 22:23:34]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 22:23:34]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 22:23:34]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 22:23:34]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 22:23:34]: send is: {"command":"get_install_pose"}



[20240707 22:23:35]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240707 22:23:35]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240707 22:23:35]: [rm_get_install_pose] pose parse result:

[20240707 22:23:35]:  0

[20240707 22:23:35]:  0

[20240707 22:23:35]:  0

[20240707 22:23:35]: send is: {"command":"get_joint_min_pos"}



[20240707 22:23:35]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240707 22:23:35]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240707 22:23:35]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 22:23:35]:  -178000

[20240707 22:23:35]:  -130000

[20240707 22:23:35]:  -135000

[20240707 22:23:35]:  -178000

[20240707 22:23:35]:  -128000

[20240707 22:23:35]:  -360000

[20240707 22:23:35]: send is: {"command":"get_joint_max_pos"}



[20240707 22:23:35]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240707 22:23:35]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240707 22:23:35]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 22:23:35]:  178000

[20240707 22:23:35]:  130000

[20240707 22:23:35]:  135000

[20240707 22:23:35]:  178000

[20240707 22:23:35]:  128000

[20240707 22:23:35]:  360000

[20240707 22:23:35]: send is: {"command":"get_joint_max_acc"}



[20240707 22:23:35]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240707 22:23:35]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240707 22:23:35]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 22:23:35]:  100000

[20240707 22:23:35]:  100000

[20240707 22:23:35]:  100000

[20240707 22:23:35]:  100000

[20240707 22:23:35]:  100000

[20240707 22:23:35]:  100000

[20240707 22:23:35]: send is: {"command":"get_joint_max_speed"}



[20240707 22:23:35]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}



[20240707 22:23:35]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}



[20240707 22:23:35]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 22:23:35]:  30000

[20240707 22:23:35]:  30000

[20240707 22:23:35]:  37500

[20240707 22:23:35]:  37500

[20240707 22:23:35]:  37500

[20240707 22:23:35]:  37500

[20240707 22:23:35]: send is: {"command":"get_current_arm_state"}



[20240707 22:23:35]: thread_socket_receive len 145 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[17,-21538,-79974,-34,-78390,27],"pose":[300001,8,292707,3141,-1,0],"sys_err":0},"state":"current_arm_state"}



[20240707 22:23:35]: thread_socket_receive len 145 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[17,-21538,-79974,-34,-78390,27],"pose":[300001,8,292707,3141,-1,0],"sys_err":0},"state":"current_arm_state"}



[20240707 22:23:35]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 22:23:35]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 22:23:35]: [rm_get_current_arm_state] joint parse result:

[20240707 22:23:35]:  17

[20240707 22:23:35]:  -21538

[20240707 22:23:35]:  -79974

[20240707 22:23:35]:  -34

[20240707 22:23:35]:  -78390

[20240707 22:23:35]:  27

[20240707 22:23:35]: [rm_get_current_arm_state] pose parse result:

[20240707 22:23:35]:  300001

[20240707 22:23:35]:  8

[20240707 22:23:35]:  292707

[20240707 22:23:35]:  3141

[20240707 22:23:35]:  -1

[20240707 22:23:35]:  0

[20240707 22:23:35]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}



[20240707 22:23:35]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240707 22:23:35]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240707 22:23:35]: [rm_movej] receive_state: true

[20240707 22:23:38]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:23:38]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:38]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240707 22:23:38]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240707 22:23:38]: [rm_movej_p] receive_state: true

[20240707 22:23:42]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240707 22:23:42]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:42]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:23:42]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:23:42]: [rm_set_force_position] set_state: true

[20240707 22:23:42]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:23:42]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:23:42]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:23:42]: [rm_movel] receive_state: true

[20240707 22:23:43]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:43]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:43]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:23:43]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:23:43]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:23:43]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:23:43]: [rm_movel] receive_state: true

[20240707 22:23:44]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:44]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:44]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:23:45]: send is: {"command":"stop_force_position"}



[20240707 22:23:45]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:23:45]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:23:45]: [rm_stop_force_position] stop_state: true

[20240707 22:23:45]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240707 22:23:45]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:23:45]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:23:45]: [rm_set_force_position] set_state: true

[20240707 22:23:45]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:23:45]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:23:45]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:23:45]: [rm_movel] receive_state: true

[20240707 22:23:46]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:46]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:46]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:23:46]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:23:46]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:23:46]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:23:46]: [rm_movel] receive_state: true

[20240707 22:23:48]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:48]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:48]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:23:48]: send is: {"command":"stop_force_position"}



[20240707 22:23:48]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:23:48]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:23:48]: [rm_stop_force_position] stop_state: true

[20240707 22:23:48]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240707 22:23:48]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:23:48]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:23:48]: [rm_set_force_position] set_state: true

[20240707 22:23:48]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:23:48]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:23:48]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:23:48]: [rm_movel] receive_state: true

[20240707 22:23:49]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:49]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:49]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:23:50]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:23:50]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:23:50]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:23:50]: [rm_movel] receive_state: true

[20240707 22:23:51]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:51]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:23:51]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:23:52]: send is: {"command":"stop_force_position"}



[20240707 22:23:52]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:23:52]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:23:52]: [rm_stop_force_position] stop_state: true

[20240707 22:23:57] Begin API Testing.
[20240707 22:23:57]: send is: {"command":"get_arm_software_info"}



[20240707 22:23:57]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240707 22:23:57]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240707 22:23:57]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 22:23:57]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 22:23:57]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 22:23:57]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 22:23:57]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 22:23:57]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 22:23:57]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 22:23:57]: send is: {"command":"get_realtime_push"}



[20240707 22:23:57]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240707 22:23:57]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240707 22:23:57]: [rm_get_realtime_push] cycle parse result: 5

[20240707 22:23:57]: [rm_get_realtime_push] port parse result: 8089

[20240707 22:23:57]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 22:23:57]: [rm_get_realtime_push] enable parse result: 1

[20240707 22:23:57]: send is: {"command":"get_current_work_frame"}



[20240707 22:23:57]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240707 22:23:57]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240707 22:23:57]: [get_current_work_frame] Work frame Name: World

[20240707 22:23:57]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 22:23:57]: send is: {"command":"get_current_tool_frame"}



[20240707 22:23:57]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240707 22:23:57]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240707 22:23:57]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 22:23:57]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 22:23:57]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 22:23:57]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 22:23:57]: send is: {"command":"get_install_pose"}



[20240707 22:23:57]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240707 22:23:57]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240707 22:23:57]: [rm_get_install_pose] pose parse result:

[20240707 22:23:57]:  0

[20240707 22:23:57]:  0

[20240707 22:23:57]:  0

[20240707 22:23:57]: send is: {"command":"get_joint_min_pos"}



[20240707 22:23:57]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240707 22:23:57]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240707 22:23:57]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 22:23:57]:  -178000

[20240707 22:23:57]:  -130000

[20240707 22:23:57]:  -135000

[20240707 22:23:57]:  -178000

[20240707 22:23:57]:  -128000

[20240707 22:23:57]:  -360000

[20240707 22:23:57]: send is: {"command":"get_joint_max_pos"}



[20240707 22:23:57]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240707 22:23:57]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240707 22:23:57]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 22:23:57]:  178000

[20240707 22:23:57]:  130000

[20240707 22:23:57]:  135000

[20240707 22:23:57]:  178000

[20240707 22:23:57]:  128000

[20240707 22:23:57]:  360000

[20240707 22:23:57]: send is: {"command":"get_joint_max_acc"}



[20240707 22:23:57]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240707 22:23:57]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240707 22:23:57]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 22:23:57]:  100000

[20240707 22:23:57]:  100000

[20240707 22:23:57]:  100000

[20240707 22:23:57]:  100000

[20240707 22:23:57]:  100000

[20240707 22:23:57]:  100000

[20240707 22:23:57]: send is: {"command":"get_joint_max_speed"}



[20240707 22:23:57]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}



[20240707 22:23:57]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}



[20240707 22:23:57]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 22:23:57]:  30000

[20240707 22:23:57]:  30000

[20240707 22:23:57]:  37500

[20240707 22:23:57]:  37500

[20240707 22:23:57]:  37500

[20240707 22:23:57]:  37500

[20240707 22:23:57]: send is: {"command":"get_current_arm_state"}



[20240707 22:23:57]: thread_socket_receive len 144 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[17,-21514,-79734,-35,-78696,28],"pose":[299986,5,293700,3140,0,0],"sys_err":0},"state":"current_arm_state"}



[20240707 22:23:57]: thread_socket_receive len 144 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[17,-21514,-79734,-35,-78696,28],"pose":[299986,5,293700,3140,0,0],"sys_err":0},"state":"current_arm_state"}



[20240707 22:23:57]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 22:23:57]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 22:23:57]: [rm_get_current_arm_state] joint parse result:

[20240707 22:23:57]:  17

[20240707 22:23:57]:  -21514

[20240707 22:23:57]:  -79734

[20240707 22:23:57]:  -35

[20240707 22:23:57]:  -78696

[20240707 22:23:57]:  28

[20240707 22:23:57]: [rm_get_current_arm_state] pose parse result:

[20240707 22:23:57]:  299986

[20240707 22:23:57]:  5

[20240707 22:23:57]:  293700

[20240707 22:23:57]:  3140

[20240707 22:23:57]:  0

[20240707 22:23:57]:  0

[20240707 22:23:57]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}



[20240707 22:23:57]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240707 22:23:57]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240707 22:23:57]: [rm_movej] receive_state: true

[20240707 22:24:01]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:24:01]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:24:01]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240707 22:24:01]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240707 22:24:01]: [rm_movej_p] receive_state: true

[20240707 22:24:04]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240707 22:24:04]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:24:04]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:24:04]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:24:04]: [rm_set_force_position] set_state: true

[20240707 22:24:04]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:24:04]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:24:04]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:24:04]: [rm_movel] receive_state: true

[20240707 22:24:05]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:24:05]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:24:05]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:24:06]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:24:06]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:24:06]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:24:06]: [rm_movel] receive_state: true

[20240707 22:24:07]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:24:07]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:24:07]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:24:07]: send is: {"command":"stop_force_position"}



[20240707 22:24:07]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:24:07]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:24:07]: [rm_stop_force_position] stop_state: true

[20240707 22:24:07]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240707 22:24:07]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:24:07]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:24:07]: [rm_set_force_position] set_state: true

[20240707 22:24:07]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:24:07]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:24:07]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:24:07]: [rm_movel] receive_state: true

[20240707 22:24:08]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:24:08]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:24:08]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:24:09]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:24:09]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:24:09]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:24:09]: [rm_movel] receive_state: true

[20240707 22:24:10]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:24:10]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:24:10]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:24:11]: send is: {"command":"stop_force_position"}



[20240707 22:24:11]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:24:11]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:24:11]: [rm_stop_force_position] stop_state: true

[20240707 22:24:11]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240707 22:24:11]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:24:11]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:24:11]: [rm_set_force_position] set_state: true

[20240707 22:24:11]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:24:11]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:24:11]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:24:11]: [rm_movel] receive_state: true

[20240707 22:24:12]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:24:12]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:24:12]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:24:12]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:24:12]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:24:12]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:24:12]: [rm_movel] receive_state: true

[20240707 22:24:14]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:24:14]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:24:14]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:24:14]: send is: {"command":"stop_force_position"}



[20240707 22:24:14]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:24:14]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:24:14]: [rm_stop_force_position] stop_state: true

[20240707 22:29:06] Begin API Testing.
[20240707 22:29:06]: send is: {"command":"get_arm_software_info"}



[20240707 22:29:06]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240707 22:29:06]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240707 22:29:06]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 22:29:06]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 22:29:06]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 22:29:06]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 22:29:06]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 22:29:06]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 22:29:06]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 22:29:06]: send is: {"command":"get_realtime_push"}



[20240707 22:29:06]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240707 22:29:06]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240707 22:29:06]: [rm_get_realtime_push] cycle parse result: 5

[20240707 22:29:06]: [rm_get_realtime_push] port parse result: 8089

[20240707 22:29:06]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 22:29:06]: [rm_get_realtime_push] enable parse result: 1

[20240707 22:29:06]: send is: {"command":"get_current_work_frame"}



[20240707 22:29:06]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240707 22:29:06]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240707 22:29:06]: [get_current_work_frame] Work frame Name: World

[20240707 22:29:06]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 22:29:06]: send is: {"command":"get_current_tool_frame"}



[20240707 22:29:06]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240707 22:29:06]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240707 22:29:06]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 22:29:06]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 22:29:06]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 22:29:06]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 22:29:06]: send is: {"command":"get_install_pose"}



[20240707 22:29:06]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240707 22:29:06]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240707 22:29:06]: [rm_get_install_pose] pose parse result:

[20240707 22:29:06]:  0

[20240707 22:29:06]:  0

[20240707 22:29:06]:  0

[20240707 22:29:06]: send is: {"command":"get_joint_min_pos"}



[20240707 22:29:06]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240707 22:29:06]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240707 22:29:06]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 22:29:06]:  -178000

[20240707 22:29:06]:  -130000

[20240707 22:29:06]:  -135000

[20240707 22:29:06]:  -178000

[20240707 22:29:06]:  -128000

[20240707 22:29:06]:  -360000

[20240707 22:29:06]: send is: {"command":"get_joint_max_pos"}



[20240707 22:29:06]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240707 22:29:06]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240707 22:29:06]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 22:29:06]:  178000

[20240707 22:29:06]:  130000

[20240707 22:29:06]:  135000

[20240707 22:29:06]:  178000

[20240707 22:29:06]:  128000

[20240707 22:29:06]:  360000

[20240707 22:29:06]: send is: {"command":"get_joint_max_acc"}



[20240707 22:29:06]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240707 22:29:06]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240707 22:29:06]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 22:29:06]:  100000

[20240707 22:29:06]:  100000

[20240707 22:29:06]:  100000

[20240707 22:29:06]:  100000

[20240707 22:29:06]:  100000

[20240707 22:29:06]:  100000

[20240707 22:29:06]: send is: {"command":"get_joint_max_speed"}



[20240707 22:29:06]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}



[20240707 22:29:06]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}



[20240707 22:29:06]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 22:29:06]:  30000

[20240707 22:29:06]:  30000

[20240707 22:29:06]:  37500

[20240707 22:29:06]:  37500

[20240707 22:29:06]:  37500

[20240707 22:29:06]:  37500

[20240707 22:29:06]: send is: {"command":"get_current_arm_state"}



[20240707 22:29:06]: thread_socket_receive len 145 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[15,-21518,-79737,-35,-78688,20],"pose":[300002,-8,293668,3140,0,0],"sys_err":0},"state":"current_arm_state"}



[20240707 22:29:06]: thread_socket_receive len 145 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[15,-21518,-79737,-35,-78688,20],"pose":[300002,-8,293668,3140,0,0],"sys_err":0},"state":"current_arm_state"}



[20240707 22:29:06]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 22:29:06]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 22:29:06]: [rm_get_current_arm_state] joint parse result:

[20240707 22:29:06]:  15

[20240707 22:29:06]:  -21518

[20240707 22:29:06]:  -79737

[20240707 22:29:06]:  -35

[20240707 22:29:06]:  -78688

[20240707 22:29:06]:  20

[20240707 22:29:06]: [rm_get_current_arm_state] pose parse result:

[20240707 22:29:06]:  300002

[20240707 22:29:06]:  -8

[20240707 22:29:06]:  293668

[20240707 22:29:06]:  3140

[20240707 22:29:06]:  0

[20240707 22:29:06]:  0

[20240707 22:29:06]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}



[20240707 22:29:06]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240707 22:29:06]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240707 22:29:06]: [rm_movej] receive_state: true

[20240707 22:29:10]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:29:10]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:29:10]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240707 22:29:10]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240707 22:29:10]: [rm_movej_p] receive_state: true

[20240707 22:29:13]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240707 22:29:13]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:29:13]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:29:13]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:29:13]: [rm_set_force_position] set_state: true

[20240707 22:29:13]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:29:13]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:29:13]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:29:13]: [rm_movel] receive_state: true

[20240707 22:29:14]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:29:14]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:29:14]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:29:15]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:29:15]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:29:15]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:29:15]: [rm_movel] receive_state: true

[20240707 22:29:15]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}



[20240707 22:29:15]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}



[20240707 22:29:15]: Move command result is: false, current Device: 0, trajectory_connect: 0

[20240707 22:29:15]: send is: {"command":"stop_force_position"}



[20240707 22:29:15]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:29:15]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:29:15]: [rm_stop_force_position] stop_state: true

[20240707 22:29:15]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240707 22:29:15]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:29:15]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:29:15]: [rm_set_force_position] set_state: true

[20240707 22:29:15]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:29:16]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:29:16]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:29:16]: [rm_movel] receive_state: true

[20240707 22:29:16]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:29:16]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:29:16]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:29:16]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:29:16]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:29:16]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:29:16]: [rm_movel] receive_state: true

[20240707 22:29:17]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:29:17]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:29:17]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:29:18]: send is: {"command":"stop_force_position"}



[20240707 22:29:18]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:29:18]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:29:18]: [rm_stop_force_position] stop_state: true

[20240707 22:29:18]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240707 22:29:18]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:29:18]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:29:18]: [rm_set_force_position] set_state: true

[20240707 22:29:18]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:29:18]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:29:18]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:29:18]: [rm_movel] receive_state: true

[20240707 22:29:19]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:29:19]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:29:19]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:29:20]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:29:20]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:29:20]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:29:20]: [rm_movel] receive_state: true

[20240707 22:29:21]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:29:21]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:29:21]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:29:21]: send is: {"command":"stop_force_position"}



[20240707 22:29:21]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:29:21]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:29:21]: [rm_stop_force_position] stop_state: true

[20240707 22:31:05] Begin API Testing.
[20240707 22:31:05]: send is: {"command":"get_arm_software_info"}



[20240707 22:31:05]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240707 22:31:05]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240707 22:31:05]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 22:31:05]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 22:31:05]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 22:31:05]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 22:31:05]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 22:31:05]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 22:31:05]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 22:31:05]: send is: {"command":"get_realtime_push"}



[20240707 22:31:05]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240707 22:31:05]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240707 22:31:05]: [rm_get_realtime_push] cycle parse result: 5

[20240707 22:31:05]: [rm_get_realtime_push] port parse result: 8089

[20240707 22:31:05]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 22:31:05]: [rm_get_realtime_push] enable parse result: 1

[20240707 22:31:05]: send is: {"command":"get_current_work_frame"}



[20240707 22:31:05]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240707 22:31:05]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240707 22:31:05]: [get_current_work_frame] Work frame Name: World

[20240707 22:31:05]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 22:31:05]: send is: {"command":"get_current_tool_frame"}



[20240707 22:31:05]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240707 22:31:05]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240707 22:31:05]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 22:31:05]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 22:31:05]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 22:31:05]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 22:31:05]: send is: {"command":"get_install_pose"}



[20240707 22:31:05]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240707 22:31:05]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240707 22:31:05]: [rm_get_install_pose] pose parse result:

[20240707 22:31:05]:  0

[20240707 22:31:05]:  0

[20240707 22:31:05]:  0

[20240707 22:31:05]: send is: {"command":"get_joint_min_pos"}



[20240707 22:31:05]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240707 22:31:05]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240707 22:31:05]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 22:31:05]:  -178000

[20240707 22:31:05]:  -130000

[20240707 22:31:05]:  -135000

[20240707 22:31:05]:  -178000

[20240707 22:31:05]:  -128000

[20240707 22:31:05]:  -360000

[20240707 22:31:05]: send is: {"command":"get_joint_max_pos"}



[20240707 22:31:05]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240707 22:31:05]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240707 22:31:05]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 22:31:05]:  178000

[20240707 22:31:05]:  130000

[20240707 22:31:05]:  135000

[20240707 22:31:05]:  178000

[20240707 22:31:05]:  128000

[20240707 22:31:05]:  360000

[20240707 22:31:05]: send is: {"command":"get_joint_max_acc"}



[20240707 22:31:05]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240707 22:31:05]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240707 22:31:05]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 22:31:05]:  100000

[20240707 22:31:05]:  100000

[20240707 22:31:05]:  100000

[20240707 22:31:05]:  100000

[20240707 22:31:05]:  100000

[20240707 22:31:05]:  100000

[20240707 22:31:05]: send is: {"command":"get_joint_max_speed"}



[20240707 22:31:05]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}



[20240707 22:31:05]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}



[20240707 22:31:05]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 22:31:05]:  30000

[20240707 22:31:05]:  30000

[20240707 22:31:05]:  37500

[20240707 22:31:05]:  37500

[20240707 22:31:05]:  37500

[20240707 22:31:05]:  37500

[20240707 22:31:05]: send is: {"command":"get_current_arm_state"}



[20240707 22:31:05]: thread_socket_receive len 145 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[16,-20559,-72383,-34,-86906,10],"pose":[300004,0,325413,3140,-2,0],"sys_err":0},"state":"current_arm_state"}



[20240707 22:31:05]: thread_socket_receive len 145 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[16,-20559,-72383,-34,-86906,10],"pose":[300004,0,325413,3140,-2,0],"sys_err":0},"state":"current_arm_state"}



[20240707 22:31:05]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 22:31:05]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 22:31:05]: [rm_get_current_arm_state] joint parse result:

[20240707 22:31:05]:  16

[20240707 22:31:05]:  -20559

[20240707 22:31:05]:  -72383

[20240707 22:31:05]:  -34

[20240707 22:31:05]:  -86906

[20240707 22:31:05]:  10

[20240707 22:31:05]: [rm_get_current_arm_state] pose parse result:

[20240707 22:31:05]:  300004

[20240707 22:31:05]:  0

[20240707 22:31:05]:  325413

[20240707 22:31:05]:  3140

[20240707 22:31:05]:  -2

[20240707 22:31:05]:  0

[20240707 22:31:05]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}



[20240707 22:31:05]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240707 22:31:05]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240707 22:31:05]: [rm_movej] receive_state: true

[20240707 22:31:09]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:31:09]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:31:09]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240707 22:31:09]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240707 22:31:09]: [rm_movej_p] receive_state: true

[20240707 22:31:12]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240707 22:31:12]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:31:12]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:31:12]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:31:12]: [rm_set_force_position] set_state: true

[20240707 22:31:12]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:31:12]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:31:12]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:31:12]: [rm_movel] receive_state: true

[20240707 22:31:13]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:31:13]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:31:13]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:31:14]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:31:14]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:31:14]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:31:14]: [rm_movel] receive_state: true

[20240707 22:31:15]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:31:15]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:31:15]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:31:15]: send is: {"command":"stop_force_position"}



[20240707 22:31:15]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:31:15]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:31:15]: [rm_stop_force_position] stop_state: true

[20240707 22:31:15]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240707 22:31:15]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:31:15]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:31:15]: [rm_set_force_position] set_state: true

[20240707 22:31:15]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:31:15]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:31:15]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:31:15]: [rm_movel] receive_state: true

[20240707 22:31:16]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:31:16]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:31:16]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:31:17]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:31:17]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:31:17]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:31:17]: [rm_movel] receive_state: true

[20240707 22:31:18]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:31:18]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:31:18]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:31:19]: send is: {"command":"stop_force_position"}



[20240707 22:31:19]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:31:19]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:31:19]: [rm_stop_force_position] stop_state: true

[20240707 22:31:19]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240707 22:31:19]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:31:19]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:31:19]: [rm_set_force_position] set_state: true

[20240707 22:31:19]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:31:19]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:31:19]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:31:19]: [rm_movel] receive_state: true

[20240707 22:31:20]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:31:20]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:31:20]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:31:20]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:31:20]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:31:20]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:31:20]: [rm_movel] receive_state: true

[20240707 22:31:22]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:31:22]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:31:22]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:31:22]: send is: {"command":"stop_force_position"}



[20240707 22:31:22]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:31:22]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:31:22]: [rm_stop_force_position] stop_state: true

[20240707 22:46:08] Begin API Testing.
[20240707 22:46:08]: send is: {"command":"get_arm_software_info"}



[20240707 22:46:08]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240707 22:46:08]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240707 22:46:08]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 22:46:08]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 22:46:08]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 22:46:08]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 22:46:08]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 22:46:08]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 22:46:08]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 22:46:08]: send is: {"command":"get_realtime_push"}



[20240707 22:46:08]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240707 22:46:08]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240707 22:46:08]: [rm_get_realtime_push] cycle parse result: 5

[20240707 22:46:08]: [rm_get_realtime_push] port parse result: 8089

[20240707 22:46:08]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 22:46:08]: [rm_get_realtime_push] enable parse result: 1

[20240707 22:46:08]: send is: {"command":"get_current_work_frame"}



[20240707 22:46:08]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240707 22:46:08]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240707 22:46:08]: [get_current_work_frame] Work frame Name: World

[20240707 22:46:08]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 22:46:08]: send is: {"command":"get_current_tool_frame"}



[20240707 22:46:08]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240707 22:46:08]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240707 22:46:08]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 22:46:08]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 22:46:08]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 22:46:08]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 22:46:08]: send is: {"command":"get_install_pose"}



[20240707 22:46:08]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240707 22:46:08]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240707 22:46:08]: [rm_get_install_pose] pose parse result:

[20240707 22:46:08]:  0

[20240707 22:46:08]:  0

[20240707 22:46:08]:  0

[20240707 22:46:08]: send is: {"command":"get_joint_min_pos"}



[20240707 22:46:08]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240707 22:46:08]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240707 22:46:08]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 22:46:08]:  -178000

[20240707 22:46:08]:  -130000

[20240707 22:46:08]:  -135000

[20240707 22:46:08]:  -178000

[20240707 22:46:08]:  -128000

[20240707 22:46:08]:  -360000

[20240707 22:46:08]: send is: {"command":"get_joint_max_pos"}



[20240707 22:46:08]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240707 22:46:08]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240707 22:46:08]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 22:46:08]:  178000

[20240707 22:46:08]:  130000

[20240707 22:46:08]:  135000

[20240707 22:46:08]:  178000

[20240707 22:46:08]:  128000

[20240707 22:46:08]:  360000

[20240707 22:46:08]: send is: {"command":"get_joint_max_acc"}



[20240707 22:46:08]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240707 22:46:08]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240707 22:46:08]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 22:46:08]:  100000

[20240707 22:46:08]:  100000

[20240707 22:46:08]:  100000

[20240707 22:46:08]:  100000

[20240707 22:46:08]:  100000

[20240707 22:46:08]:  100000

[20240707 22:46:08]: send is: {"command":"get_joint_max_speed"}



[20240707 22:46:08]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}



[20240707 22:46:08]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}



[20240707 22:46:08]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 22:46:08]:  30000

[20240707 22:46:08]:  30000

[20240707 22:46:08]:  37500

[20240707 22:46:08]:  37500

[20240707 22:46:08]:  37500

[20240707 22:46:08]:  37500

[20240707 22:46:08]: send is: {"command":"get_current_arm_state"}



[20240707 22:46:08]: thread_socket_receive len 145 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[19,-21548,-80040,-41,-78307,26],"pose":[300002,0,292420,3140,-1,0],"sys_err":0},"state":"current_arm_state"}



[20240707 22:46:08]: thread_socket_receive len 145 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[19,-21548,-80040,-41,-78307,26],"pose":[300002,0,292420,3140,-1,0],"sys_err":0},"state":"current_arm_state"}



[20240707 22:46:08]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 22:46:08]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 22:46:08]: [rm_get_current_arm_state] joint parse result:

[20240707 22:46:08]:  19

[20240707 22:46:08]:  -21548

[20240707 22:46:08]:  -80040

[20240707 22:46:08]:  -41

[20240707 22:46:08]:  -78307

[20240707 22:46:08]:  26

[20240707 22:46:08]: [rm_get_current_arm_state] pose parse result:

[20240707 22:46:08]:  300002

[20240707 22:46:08]:  0

[20240707 22:46:08]:  292420

[20240707 22:46:08]:  3140

[20240707 22:46:08]:  -1

[20240707 22:46:08]:  0

[20240707 22:46:08]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}



[20240707 22:46:08]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240707 22:46:08]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240707 22:46:08]: [rm_movej] receive_state: true

[20240707 22:46:11]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:46:11]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:46:11]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240707 22:46:11]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240707 22:46:11]: [rm_movej_p] receive_state: true

[20240707 22:46:15]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240707 22:46:15]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:46:15]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:46:15]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:46:15]: [rm_set_force_position] set_state: true

[20240707 22:46:15]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:46:15]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:46:15]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:46:15]: [rm_movel] receive_state: true

[20240707 22:46:16]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:46:16]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:46:16]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:46:16]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:46:16]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:46:16]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:46:16]: [rm_movel] receive_state: true

[20240707 22:46:17]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:46:17]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:46:17]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:46:18]: send is: {"command":"stop_force_position"}



[20240707 22:46:18]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:46:18]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:46:18]: [rm_stop_force_position] stop_state: true

[20240707 22:46:18]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240707 22:46:18]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:46:18]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:46:18]: [rm_set_force_position] set_state: true

[20240707 22:46:18]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:46:18]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:46:18]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:46:18]: [rm_movel] receive_state: true

[20240707 22:46:19]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:46:19]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:46:19]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:46:19]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:46:19]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:46:19]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:46:19]: [rm_movel] receive_state: true

[20240707 22:46:21]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:46:21]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:46:21]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:46:21]: send is: {"command":"stop_force_position"}



[20240707 22:46:21]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:46:21]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:46:21]: [rm_stop_force_position] stop_state: true

[20240707 22:46:21]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240707 22:46:21]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:46:21]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:46:21]: [rm_set_force_position] set_state: true

[20240707 22:46:21]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:46:21]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:46:21]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:46:21]: [rm_movel] receive_state: true

[20240707 22:46:22]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:46:22]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:46:22]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:46:23]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:46:23]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:46:23]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:46:23]: [rm_movel] receive_state: true

[20240707 22:46:24]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:46:24]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:46:24]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:46:25]: send is: {"command":"stop_force_position"}



[20240707 22:46:25]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:46:25]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:46:25]: [rm_stop_force_position] stop_state: true

[20240707 22:47:04] Begin API Testing.
[20240707 22:47:04]: send is: {"command":"get_arm_software_info"}



[20240707 22:47:04]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240707 22:47:04]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240707 22:47:04]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 22:47:04]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 22:47:04]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 22:47:04]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 22:47:04]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 22:47:04]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 22:47:04]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 22:47:04]: send is: {"command":"get_realtime_push"}



[20240707 22:47:04]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240707 22:47:04]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240707 22:47:04]: [rm_get_realtime_push] cycle parse result: 5

[20240707 22:47:04]: [rm_get_realtime_push] port parse result: 8089

[20240707 22:47:04]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 22:47:04]: [rm_get_realtime_push] enable parse result: 1

[20240707 22:47:04]: send is: {"command":"get_current_work_frame"}



[20240707 22:47:04]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240707 22:47:04]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240707 22:47:04]: [get_current_work_frame] Work frame Name: World

[20240707 22:47:04]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 22:47:04]: send is: {"command":"get_current_tool_frame"}



[20240707 22:47:04]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240707 22:47:04]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240707 22:47:04]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 22:47:04]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 22:47:04]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 22:47:04]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 22:47:04]: send is: {"command":"get_install_pose"}



[20240707 22:47:04]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240707 22:47:04]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240707 22:47:04]: [rm_get_install_pose] pose parse result:

[20240707 22:47:04]:  0

[20240707 22:47:04]:  0

[20240707 22:47:04]:  0

[20240707 22:47:04]: send is: {"command":"get_joint_min_pos"}



[20240707 22:47:04]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240707 22:47:04]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240707 22:47:04]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 22:47:04]:  -178000

[20240707 22:47:04]:  -130000

[20240707 22:47:04]:  -135000

[20240707 22:47:04]:  -178000

[20240707 22:47:04]:  -128000

[20240707 22:47:04]:  -360000

[20240707 22:47:04]: send is: {"command":"get_joint_max_pos"}



[20240707 22:47:04]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240707 22:47:04]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240707 22:47:04]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 22:47:04]:  178000

[20240707 22:47:04]:  130000

[20240707 22:47:04]:  135000

[20240707 22:47:04]:  178000

[20240707 22:47:04]:  128000

[20240707 22:47:04]:  360000

[20240707 22:47:04]: send is: {"command":"get_joint_max_acc"}



[20240707 22:47:04]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240707 22:47:04]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240707 22:47:04]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 22:47:04]:  100000

[20240707 22:47:04]:  100000

[20240707 22:47:04]:  100000

[20240707 22:47:04]:  100000

[20240707 22:47:04]:  100000

[20240707 22:47:04]:  100000

[20240707 22:47:04]: send is: {"command":"get_joint_max_speed"}



[20240707 22:47:04]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}



[20240707 22:47:04]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}



[20240707 22:47:04]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 22:47:04]:  30000

[20240707 22:47:04]:  30000

[20240707 22:47:04]:  37500

[20240707 22:47:04]:  37500

[20240707 22:47:04]:  37500

[20240707 22:47:04]:  37500

[20240707 22:47:04]: send is: {"command":"get_current_arm_state"}



[20240707 22:47:04]: thread_socket_receive len 146 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[15,-21523,-80045,-34,-78296,27],"pose":[299994,-5,292535,3141,-2,0],"sys_err":0},"state":"current_arm_state"}



[20240707 22:47:04]: thread_socket_receive len 146 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[15,-21523,-80045,-34,-78296,27],"pose":[299994,-5,292535,3141,-2,0],"sys_err":0},"state":"current_arm_state"}



[20240707 22:47:04]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 22:47:04]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 22:47:04]: [rm_get_current_arm_state] joint parse result:

[20240707 22:47:04]:  15

[20240707 22:47:04]:  -21523

[20240707 22:47:04]:  -80045

[20240707 22:47:04]:  -34

[20240707 22:47:04]:  -78296

[20240707 22:47:04]:  27

[20240707 22:47:04]: [rm_get_current_arm_state] pose parse result:

[20240707 22:47:04]:  299994

[20240707 22:47:04]:  -5

[20240707 22:47:04]:  292535

[20240707 22:47:04]:  3141

[20240707 22:47:04]:  -2

[20240707 22:47:04]:  0

[20240707 22:47:04]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}



[20240707 22:47:04]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240707 22:47:04]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240707 22:47:04]: [rm_movej] receive_state: true

[20240707 22:47:07]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:47:07]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:47:07]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240707 22:47:07]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240707 22:47:07]: [rm_movej_p] receive_state: true

[20240707 22:47:11]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240707 22:47:11]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:47:11]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:47:11]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:47:11]: [rm_set_force_position] set_state: true

[20240707 22:47:11]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:47:11]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:47:11]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:47:11]: [rm_movel] receive_state: true

[20240707 22:47:12]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:47:12]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:47:12]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:47:12]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:47:12]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:47:12]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:47:12]: [rm_movel] receive_state: true

[20240707 22:47:14]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:47:14]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:47:14]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:47:14]: send is: {"command":"stop_force_position"}



[20240707 22:47:14]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:47:14]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:47:14]: [rm_stop_force_position] stop_state: true

[20240707 22:47:14]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240707 22:47:14]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:47:14]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:47:14]: [rm_set_force_position] set_state: true

[20240707 22:47:14]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:47:14]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:47:14]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:47:14]: [rm_movel] receive_state: true

[20240707 22:47:15]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:47:15]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:47:15]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:47:16]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:47:16]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:47:16]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:47:16]: [rm_movel] receive_state: true

[20240707 22:47:17]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:47:17]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:47:17]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:47:17]: send is: {"command":"stop_force_position"}



[20240707 22:47:17]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:47:17]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:47:17]: [rm_stop_force_position] stop_state: true

[20240707 22:47:17]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240707 22:47:17]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:47:17]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:47:17]: [rm_set_force_position] set_state: true

[20240707 22:47:17]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:47:17]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:47:17]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:47:17]: [rm_movel] receive_state: true

[20240707 22:47:19]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:47:19]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:47:19]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:47:19]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:47:19]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:47:19]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:47:19]: [rm_movel] receive_state: true

[20240707 22:47:20]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:47:20]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:47:21]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:47:21]: send is: {"command":"stop_force_position"}



[20240707 22:47:21]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:47:21]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:47:21]: [rm_stop_force_position] stop_state: true

[20240707 22:53:11] Begin API Testing.
[20240707 22:53:11]: send is: {"command":"get_arm_software_info"}



[20240707 22:53:11]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240707 22:53:11]: thread_socket_receive len 330 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"future_blend_2024070"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/02 09:56:55","commit_id":"3292c76","version":"V1.5.3"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240707 22:53:11]: [rm_get_arm_software_info] Product version: RM65-BI

[20240707 22:53:11]: [rm_get_arm_software_info] Algorithm version: future_blend_2024070

[20240707 22:53:11]: [rm_get_arm_software_info] Ctrl version: V1.5.3

[20240707 22:53:11]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/02 09:56:55

[20240707 22:53:11]: [rm_get_arm_software_info] Dynamic model version: 2

[20240707 22:53:11]: [rm_get_arm_software_info] Plan version: V1.5.3

[20240707 22:53:11]: [rm_get_arm_software_info] Plan build Time: 2024/07/02 09:56:55

[20240707 22:53:11]: send is: {"command":"get_realtime_push"}



[20240707 22:53:11]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240707 22:53:11]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240707 22:53:11]: [rm_get_realtime_push] cycle parse result: 5

[20240707 22:53:11]: [rm_get_realtime_push] port parse result: 8089

[20240707 22:53:11]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240707 22:53:11]: [rm_get_realtime_push] enable parse result: 1

[20240707 22:53:11]: send is: {"command":"get_current_work_frame"}



[20240707 22:53:11]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240707 22:53:11]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240707 22:53:11]: [get_current_work_frame] Work frame Name: World

[20240707 22:53:11]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 22:53:11]: send is: {"command":"get_current_tool_frame"}



[20240707 22:53:11]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240707 22:53:11]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240707 22:53:11]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240707 22:53:11]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240707 22:53:11]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240707 22:53:11]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240707 22:53:11]: send is: {"command":"get_install_pose"}



[20240707 22:53:11]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240707 22:53:11]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240707 22:53:11]: [rm_get_install_pose] pose parse result:

[20240707 22:53:11]:  0

[20240707 22:53:11]:  0

[20240707 22:53:11]:  0

[20240707 22:53:11]: send is: {"command":"get_joint_min_pos"}



[20240707 22:53:11]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240707 22:53:11]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240707 22:53:11]: [rm_get_joint_min_pos] min_pos parse result:

[20240707 22:53:11]:  -178000

[20240707 22:53:11]:  -130000

[20240707 22:53:11]:  -135000

[20240707 22:53:11]:  -178000

[20240707 22:53:11]:  -128000

[20240707 22:53:11]:  -360000

[20240707 22:53:11]: send is: {"command":"get_joint_max_pos"}



[20240707 22:53:11]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240707 22:53:11]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240707 22:53:11]: [rm_get_joint_max_pos] max_pos parse result:

[20240707 22:53:11]:  178000

[20240707 22:53:11]:  130000

[20240707 22:53:11]:  135000

[20240707 22:53:11]:  178000

[20240707 22:53:11]:  128000

[20240707 22:53:11]:  360000

[20240707 22:53:11]: send is: {"command":"get_joint_max_acc"}



[20240707 22:53:11]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240707 22:53:11]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240707 22:53:11]: [rm_get_joint_max_acc] joint_acc parse result:

[20240707 22:53:11]:  100000

[20240707 22:53:11]:  100000

[20240707 22:53:11]:  100000

[20240707 22:53:11]:  100000

[20240707 22:53:11]:  100000

[20240707 22:53:11]:  100000

[20240707 22:53:11]: send is: {"command":"get_joint_max_speed"}



[20240707 22:53:11]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}



[20240707 22:53:11]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}



[20240707 22:53:11]: [rm_get_joint_max_speed] joint_speed parse result:

[20240707 22:53:11]:  30000

[20240707 22:53:11]:  30000

[20240707 22:53:11]:  37500

[20240707 22:53:11]:  37500

[20240707 22:53:11]:  37500

[20240707 22:53:11]:  37500

[20240707 22:53:11]: send is: {"command":"get_current_arm_state"}



[20240707 22:53:11]: thread_socket_receive len 145 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[17,-21541,-79995,-34,-78364,30],"pose":[300002,8,292619,3141,-1,0],"sys_err":0},"state":"current_arm_state"}



[20240707 22:53:11]: thread_socket_receive len 145 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[17,-21541,-79995,-34,-78364,30],"pose":[300002,8,292619,3141,-1,0],"sys_err":0},"state":"current_arm_state"}



[20240707 22:53:11]: [rm_get_current_arm_state] arm_err parse result: 0

[20240707 22:53:11]: [rm_get_current_arm_state] sys_err parse result: 0

[20240707 22:53:11]: [rm_get_current_arm_state] joint parse result:

[20240707 22:53:11]:  17

[20240707 22:53:11]:  -21541

[20240707 22:53:11]:  -79995

[20240707 22:53:11]:  -34

[20240707 22:53:11]:  -78364

[20240707 22:53:11]:  30

[20240707 22:53:11]: [rm_get_current_arm_state] pose parse result:

[20240707 22:53:11]:  300002

[20240707 22:53:11]:  8

[20240707 22:53:11]:  292619

[20240707 22:53:11]:  3141

[20240707 22:53:11]:  -1

[20240707 22:53:11]:  0

[20240707 22:53:11]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}



[20240707 22:53:11]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240707 22:53:11]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240707 22:53:11]: [rm_movej] receive_state: true

[20240707 22:53:15]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:53:15]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:53:15]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240707 22:53:15]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240707 22:53:15]: [rm_movej_p] receive_state: true

[20240707 22:53:18]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240707 22:53:18]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:53:18]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:53:18]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:53:18]: [rm_set_force_position] set_state: true

[20240707 22:53:18]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:53:18]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:53:18]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:53:18]: [rm_movel] receive_state: true

[20240707 22:53:19]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:53:19]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:53:19]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:53:20]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:53:20]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:53:20]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:53:20]: [rm_movel] receive_state: true

[20240707 22:53:21]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:53:21]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:53:21]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:53:22]: send is: {"command":"stop_force_position"}



[20240707 22:53:22]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:53:22]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:53:22]: [rm_stop_force_position] stop_state: true

[20240707 22:53:22]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240707 22:53:22]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:53:22]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:53:22]: [rm_set_force_position] set_state: true

[20240707 22:53:22]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:53:22]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:53:22]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:53:22]: [rm_movel] receive_state: true

[20240707 22:53:23]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:53:23]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:53:23]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:53:23]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:53:23]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:53:23]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:53:23]: [rm_movel] receive_state: true

[20240707 22:53:24]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:53:24]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:53:24]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:53:25]: send is: {"command":"stop_force_position"}



[20240707 22:53:25]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:53:25]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:53:25]: [rm_stop_force_position] stop_state: true

[20240707 22:53:25]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240707 22:53:25]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:53:25]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240707 22:53:25]: [rm_set_force_position] set_state: true

[20240707 22:53:25]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:53:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:53:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:53:25]: [rm_movel] receive_state: true

[20240707 22:53:26]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:53:26]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:53:26]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:53:27]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240707 22:53:27]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:53:27]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240707 22:53:27]: [rm_movel] receive_state: true

[20240707 22:53:28]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:53:28]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240707 22:53:28]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240707 22:53:28]: send is: {"command":"stop_force_position"}



[20240707 22:53:28]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:53:28]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240707 22:53:28]: [rm_stop_force_position] stop_state: true

[20240709 10:07:33] Begin API Testing.
[20240709 10:07:33]: send is: {"command":"get_arm_software_info"}



[20240709 10:07:33]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240709 10:07:33]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240709 10:07:34]: [rm_get_arm_software_info] Product version: RM65-BI

[20240709 10:07:34]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240709 10:07:34]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240709 10:07:34]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240709 10:07:34]: [rm_get_arm_software_info] Dynamic model version: 2

[20240709 10:07:34]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240709 10:07:34]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240709 10:07:34]: send is: {"command":"get_realtime_push"}



[20240709 10:07:34]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240709 10:07:34]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240709 10:07:34]: [rm_get_realtime_push] cycle parse result: 5

[20240709 10:07:34]: [rm_get_realtime_push] port parse result: 8089

[20240709 10:07:34]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240709 10:07:34]: [rm_get_realtime_push] enable parse result: 1

[20240709 10:07:34]: send is: {"command":"get_current_work_frame"}



[20240709 10:07:34]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240709 10:07:34]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240709 10:07:34]: [get_current_work_frame] Work frame Name: World

[20240709 10:07:34]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240709 10:07:34]: send is: {"command":"get_current_tool_frame"}



[20240709 10:07:34]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240709 10:07:34]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240709 10:07:34]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240709 10:07:34]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240709 10:07:34]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240709 10:07:34]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240709 10:07:34]: send is: {"command":"get_install_pose"}



[20240709 10:07:34]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240709 10:07:34]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240709 10:07:34]: [rm_get_install_pose] pose parse result:

[20240709 10:07:34]:  0

[20240709 10:07:34]:  0

[20240709 10:07:34]:  0

[20240709 10:07:34]: send is: {"command":"get_joint_min_pos"}



[20240709 10:07:34]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240709 10:07:34]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240709 10:07:34]: [rm_get_joint_min_pos] min_pos parse result:

[20240709 10:07:34]:  -178000

[20240709 10:07:34]:  -130000

[20240709 10:07:34]:  -135000

[20240709 10:07:34]:  -178000

[20240709 10:07:34]:  -128000

[20240709 10:07:34]:  -360000

[20240709 10:07:34]: send is: {"command":"get_joint_max_pos"}



[20240709 10:07:34]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240709 10:07:34]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240709 10:07:34]: [rm_get_joint_max_pos] max_pos parse result:

[20240709 10:07:34]:  178000

[20240709 10:07:34]:  130000

[20240709 10:07:34]:  135000

[20240709 10:07:34]:  178000

[20240709 10:07:34]:  128000

[20240709 10:07:34]:  360000

[20240709 10:07:34]: send is: {"command":"get_joint_max_acc"}



[20240709 10:07:34]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240709 10:07:34]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240709 10:07:34]: [rm_get_joint_max_acc] joint_acc parse result:

[20240709 10:07:34]:  100000

[20240709 10:07:34]:  100000

[20240709 10:07:34]:  100000

[20240709 10:07:34]:  100000

[20240709 10:07:34]:  100000

[20240709 10:07:34]:  100000

[20240709 10:07:34]: send is: {"command":"get_joint_max_speed"}



[20240709 10:07:34]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}



[20240709 10:07:34]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}



[20240709 10:07:34]: [rm_get_joint_max_speed] joint_speed parse result:

[20240709 10:07:34]:  30000

[20240709 10:07:34]:  30000

[20240709 10:07:34]:  37500

[20240709 10:07:34]:  37500

[20240709 10:07:34]:  37500

[20240709 10:07:34]:  37500

[20240709 10:07:34]: send is: {"command":"get_current_arm_state"}



[20240709 10:07:34]: thread_socket_receive len 147 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[39,-21213,-78412,-103,-80395,69],"pose":[299623,-47,300040,3139,0,0],"sys_err":0},"state":"current_arm_state"}



[20240709 10:07:34]: thread_socket_receive len 147 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[39,-21213,-78412,-103,-80395,69],"pose":[299623,-47,300040,3139,0,0],"sys_err":0},"state":"current_arm_state"}



[20240709 10:07:34]: [rm_get_current_arm_state] arm_err parse result: 0

[20240709 10:07:34]: [rm_get_current_arm_state] sys_err parse result: 0

[20240709 10:07:34]: [rm_get_current_arm_state] joint parse result:

[20240709 10:07:34]:  39

[20240709 10:07:34]:  -21213

[20240709 10:07:34]:  -78412

[20240709 10:07:34]:  -103

[20240709 10:07:34]:  -80395

[20240709 10:07:34]:  69

[20240709 10:07:34]: [rm_get_current_arm_state] pose parse result:

[20240709 10:07:34]:  299623

[20240709 10:07:34]:  -47

[20240709 10:07:34]:  300040

[20240709 10:07:34]:  3139

[20240709 10:07:34]:  0

[20240709 10:07:34]:  0

[20240709 10:07:34]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}



[20240709 10:07:34]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240709 10:07:34]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240709 10:07:34]: [rm_movej] receive_state: true

[20240709 10:07:37]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 10:07:37]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:07:37]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240709 10:07:37]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240709 10:07:37]: [rm_movej_p] receive_state: true

[20240709 10:07:41]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240709 10:07:41]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:07:41]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 10:07:41]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 10:07:41]: [rm_set_force_position] set_state: true

[20240709 10:07:41]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 10:07:41]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 10:07:41]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 10:07:41]: [rm_movel] receive_state: true

[20240709 10:07:41]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:07:41]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:07:41]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 10:07:42]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 10:07:42]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 10:07:42]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 10:07:42]: [rm_movel] receive_state: true

[20240709 10:07:43]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:07:43]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:07:43]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 10:07:43]: send is: {"command":"stop_force_position"}



[20240709 10:07:43]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 10:07:43]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 10:07:43]: [rm_stop_force_position] stop_state: true

[20240709 10:07:43]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240709 10:07:43]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 10:07:43]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 10:07:44]: [rm_set_force_position] set_state: true

[20240709 10:07:44]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 10:07:44]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 10:07:44]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 10:07:44]: [rm_movel] receive_state: true

[20240709 10:07:44]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:07:44]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:07:44]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 10:07:45]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 10:07:45]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 10:07:45]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 10:07:45]: [rm_movel] receive_state: true

[20240709 10:07:46]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:07:46]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:07:46]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 10:07:46]: send is: {"command":"stop_force_position"}



[20240709 10:07:46]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 10:07:46]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 10:07:46]: [rm_stop_force_position] stop_state: true

[20240709 10:07:46]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240709 10:07:46]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 10:07:46]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 10:07:46]: [rm_set_force_position] set_state: true

[20240709 10:07:46]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 10:07:46]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 10:07:46]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 10:07:46]: [rm_movel] receive_state: true

[20240709 10:07:47]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:07:47]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:07:47]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 10:07:48]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 10:07:48]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 10:07:48]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 10:07:48]: [rm_movel] receive_state: true

[20240709 10:07:49]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:07:49]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:07:49]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 10:07:50]: send is: {"command":"stop_force_position"}



[20240709 10:07:50]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 10:07:50]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 10:07:50]: [rm_stop_force_position] stop_state: true

[20240709 10:36:28] Begin API Testing.
[20240709 10:36:28]: send is: {"command":"get_arm_software_info"}



[20240709 10:36:28]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240709 10:36:28]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240709 10:36:28]: [rm_get_arm_software_info] Product version: RM65-BI

[20240709 10:36:28]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240709 10:36:28]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240709 10:36:28]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240709 10:36:28]: [rm_get_arm_software_info] Dynamic model version: 2

[20240709 10:36:28]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240709 10:36:28]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240709 10:36:28]: send is: {"command":"get_realtime_push"}



[20240709 10:36:28]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240709 10:36:28]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240709 10:36:28]: [rm_get_realtime_push] cycle parse result: 5

[20240709 10:36:28]: [rm_get_realtime_push] port parse result: 8089

[20240709 10:36:28]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240709 10:36:28]: [rm_get_realtime_push] enable parse result: 1

[20240709 10:36:28]: send is: {"command":"get_current_work_frame"}



[20240709 10:36:28]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240709 10:36:28]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240709 10:36:28]: [get_current_work_frame] Work frame Name: World

[20240709 10:36:28]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240709 10:36:28]: send is: {"command":"get_current_tool_frame"}



[20240709 10:36:28]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240709 10:36:28]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240709 10:36:28]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240709 10:36:28]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240709 10:36:28]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240709 10:36:28]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240709 10:36:28]: send is: {"command":"get_install_pose"}



[20240709 10:36:28]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240709 10:36:28]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240709 10:36:28]: [rm_get_install_pose] pose parse result:

[20240709 10:36:28]:  0

[20240709 10:36:28]:  0

[20240709 10:36:28]:  0

[20240709 10:36:28]: send is: {"command":"get_joint_min_pos"}



[20240709 10:36:28]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240709 10:36:28]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240709 10:36:28]: [rm_get_joint_min_pos] min_pos parse result:

[20240709 10:36:28]:  -178000

[20240709 10:36:28]:  -130000

[20240709 10:36:28]:  -135000

[20240709 10:36:28]:  -178000

[20240709 10:36:28]:  -128000

[20240709 10:36:28]:  -360000

[20240709 10:36:28]: send is: {"command":"get_joint_max_pos"}



[20240709 10:36:28]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240709 10:36:28]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240709 10:36:28]: [rm_get_joint_max_pos] max_pos parse result:

[20240709 10:36:28]:  178000

[20240709 10:36:28]:  130000

[20240709 10:36:28]:  135000

[20240709 10:36:28]:  178000

[20240709 10:36:28]:  128000

[20240709 10:36:28]:  360000

[20240709 10:36:28]: send is: {"command":"get_joint_max_acc"}



[20240709 10:36:28]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240709 10:36:28]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240709 10:36:28]: [rm_get_joint_max_acc] joint_acc parse result:

[20240709 10:36:28]:  100000

[20240709 10:36:28]:  100000

[20240709 10:36:28]:  100000

[20240709 10:36:28]:  100000

[20240709 10:36:28]:  100000

[20240709 10:36:28]:  100000

[20240709 10:36:28]: send is: {"command":"get_joint_max_speed"}



[20240709 10:36:28]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}



[20240709 10:36:28]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}



[20240709 10:36:28]: [rm_get_joint_max_speed] joint_speed parse result:

[20240709 10:36:28]:  30000

[20240709 10:36:28]:  30000

[20240709 10:36:28]:  37500

[20240709 10:36:28]:  37500

[20240709 10:36:28]:  37500

[20240709 10:36:28]:  37500

[20240709 10:36:28]: send is: {"command":"get_current_arm_state"}



[20240709 10:36:28]: thread_socket_receive len 146 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[13,-21062,-76852,-32,-82085,19],"pose":[300001,-10,306482,3141,0,0],"sys_err":0},"state":"current_arm_state"}



[20240709 10:36:28]: thread_socket_receive len 146 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[13,-21062,-76852,-32,-82085,19],"pose":[300001,-10,306482,3141,0,0],"sys_err":0},"state":"current_arm_state"}



[20240709 10:36:28]: [rm_get_current_arm_state] arm_err parse result: 0

[20240709 10:36:28]: [rm_get_current_arm_state] sys_err parse result: 0

[20240709 10:36:28]: [rm_get_current_arm_state] joint parse result:

[20240709 10:36:28]:  13

[20240709 10:36:28]:  -21062

[20240709 10:36:28]:  -76852

[20240709 10:36:28]:  -32

[20240709 10:36:28]:  -82085

[20240709 10:36:28]:  19

[20240709 10:36:28]: [rm_get_current_arm_state] pose parse result:

[20240709 10:36:28]:  300001

[20240709 10:36:28]:  -10

[20240709 10:36:28]:  306482

[20240709 10:36:28]:  3141

[20240709 10:36:28]:  0

[20240709 10:36:28]:  0

[20240709 10:36:28]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}



[20240709 10:36:28]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240709 10:36:28]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240709 10:36:28]: [rm_movej] receive_state: true

[20240709 10:36:32]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 10:36:32]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:36:32]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240709 10:36:32]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240709 10:36:32]: [rm_movej_p] receive_state: true

[20240709 10:36:35]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240709 10:36:35]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:36:35]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 10:36:35]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 10:36:35]: [rm_set_force_position] set_state: true

[20240709 10:36:35]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 10:36:35]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 10:36:35]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 10:36:35]: [rm_movel] receive_state: true

[20240709 10:36:36]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:36:36]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:36:36]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 10:36:37]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 10:36:37]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 10:36:37]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 10:36:37]: [rm_movel] receive_state: true

[20240709 10:36:38]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:36:38]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:36:38]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 10:36:38]: send is: {"command":"stop_force_position"}



[20240709 10:36:38]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 10:36:38]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 10:36:38]: [rm_stop_force_position] stop_state: true

[20240709 10:36:38]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240709 10:36:38]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 10:36:38]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 10:36:38]: [rm_set_force_position] set_state: true

[20240709 10:36:38]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 10:36:38]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 10:36:38]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 10:36:38]: [rm_movel] receive_state: true

[20240709 10:36:38]: thread_socket_receive len 46 robot_handle: 1 message:{"command":"get_teach_frame","frame_type":0}



[20240709 10:36:39]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:36:39]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:36:39]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 10:36:39]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 10:36:39]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 10:36:39]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 10:36:39]: [rm_movel] receive_state: true

[20240709 10:36:40]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:36:40]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:36:40]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 10:36:41]: send is: {"command":"stop_force_position"}



[20240709 10:36:41]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 10:36:41]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 10:36:41]: [rm_stop_force_position] stop_state: true

[20240709 10:36:41]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240709 10:36:41]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 10:36:41]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 10:36:41]: [rm_set_force_position] set_state: true

[20240709 10:36:41]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 10:36:41]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 10:36:41]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 10:36:41]: [rm_movel] receive_state: true

[20240709 10:36:42]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:36:42]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:36:42]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 10:36:42]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 10:36:42]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 10:36:42]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 10:36:42]: [rm_movel] receive_state: true

[20240709 10:36:44]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:36:44]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 10:36:44]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 10:36:44]: send is: {"command":"stop_force_position"}



[20240709 10:36:44]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 10:36:44]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 10:36:44]: [rm_stop_force_position] stop_state: true

[20240709 18:50:40] Begin API Testing.
[20240709 18:50:40]: send is: {"command":"get_arm_software_info"}



[20240709 18:50:40]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240709 18:50:40]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240709 18:50:40]: [rm_get_arm_software_info] Product version: RM65-BI

[20240709 18:50:40]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240709 18:50:40]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240709 18:50:40]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240709 18:50:40]: [rm_get_arm_software_info] Dynamic model version: 2

[20240709 18:50:40]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240709 18:50:40]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240709 18:50:40]: send is: {"command":"get_realtime_push"}



[20240709 18:50:40]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240709 18:50:40]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240709 18:50:40]: [rm_get_realtime_push] cycle parse result: 5

[20240709 18:50:40]: [rm_get_realtime_push] port parse result: 8089

[20240709 18:50:40]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240709 18:50:40]: [rm_get_realtime_push] enable parse result: 1

[20240709 18:50:40]: send is: {"command":"get_current_work_frame"}



[20240709 18:50:40]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240709 18:50:40]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240709 18:50:40]: [get_current_work_frame] Work frame Name: World

[20240709 18:50:40]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240709 18:50:40]: send is: {"command":"get_current_tool_frame"}



[20240709 18:50:40]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240709 18:50:40]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240709 18:50:40]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240709 18:50:40]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240709 18:50:40]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240709 18:50:40]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240709 18:50:40]: send is: {"command":"get_install_pose"}



[20240709 18:50:40]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240709 18:50:40]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240709 18:50:40]: [rm_get_install_pose] pose parse result:

[20240709 18:50:40]:  0

[20240709 18:50:40]:  0

[20240709 18:50:40]:  0

[20240709 18:50:40]: send is: {"command":"get_joint_min_pos"}



[20240709 18:50:40]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240709 18:50:40]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240709 18:50:40]: [rm_get_joint_min_pos] min_pos parse result:

[20240709 18:50:40]:  -178000

[20240709 18:50:40]:  -130000

[20240709 18:50:40]:  -135000

[20240709 18:50:40]:  -178000

[20240709 18:50:40]:  -128000

[20240709 18:50:40]:  -360000

[20240709 18:50:40]: send is: {"command":"get_joint_max_pos"}



[20240709 18:50:40]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240709 18:50:40]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240709 18:50:40]: [rm_get_joint_max_pos] max_pos parse result:

[20240709 18:50:40]:  178000

[20240709 18:50:40]:  130000

[20240709 18:50:40]:  135000

[20240709 18:50:40]:  178000

[20240709 18:50:40]:  128000

[20240709 18:50:40]:  360000

[20240709 18:50:40]: send is: {"command":"get_joint_max_acc"}



[20240709 18:50:40]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240709 18:50:40]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240709 18:50:40]: [rm_get_joint_max_acc] joint_acc parse result:

[20240709 18:50:40]:  100000

[20240709 18:50:40]:  100000

[20240709 18:50:40]:  100000

[20240709 18:50:40]:  100000

[20240709 18:50:40]:  100000

[20240709 18:50:40]:  100000

[20240709 18:50:40]: send is: {"command":"get_joint_max_speed"}



[20240709 18:50:40]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[13333,13333,25000,20833,20833,20833],"state":"joint_max_speed"}



[20240709 18:50:40]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[13333,13333,25000,20833,20833,20833],"state":"joint_max_speed"}



[20240709 18:50:40]: [rm_get_joint_max_speed] joint_speed parse result:

[20240709 18:50:40]:  13333

[20240709 18:50:40]:  13333

[20240709 18:50:40]:  25000

[20240709 18:50:40]:  20833

[20240709 18:50:40]:  20833

[20240709 18:50:40]:  20833

[20240709 18:50:40]: send is: {"command":"get_current_arm_state"}



[20240709 18:50:40]: thread_socket_receive len 146 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[13,-21123,-60471,-34,-98407,12],"pose":[299996,-13,365991,3141,0,0],"sys_err":0},"state":"current_arm_state"}



[20240709 18:50:40]: thread_socket_receive len 146 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[13,-21123,-60471,-34,-98407,12],"pose":[299996,-13,365991,3141,0,0],"sys_err":0},"state":"current_arm_state"}



[20240709 18:50:40]: [rm_get_current_arm_state] arm_err parse result: 0

[20240709 18:50:40]: [rm_get_current_arm_state] sys_err parse result: 0

[20240709 18:50:40]: [rm_get_current_arm_state] joint parse result:

[20240709 18:50:40]:  13

[20240709 18:50:40]:  -21123

[20240709 18:50:40]:  -60471

[20240709 18:50:40]:  -34

[20240709 18:50:40]:  -98407

[20240709 18:50:40]:  12

[20240709 18:50:40]: [rm_get_current_arm_state] pose parse result:

[20240709 18:50:40]:  299996

[20240709 18:50:40]:  -13

[20240709 18:50:40]:  365991

[20240709 18:50:40]:  3141

[20240709 18:50:40]:  0

[20240709 18:50:40]:  0

[20240709 18:50:40]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}



[20240709 18:50:41]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240709 18:50:41]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240709 18:50:41]: [rm_movej] receive_state: true

[20240709 18:50:44]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 18:50:44]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240709 18:50:44]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240709 18:50:44]: [rm_movej_p] receive_state: true

[20240709 18:50:45]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 18:50:45]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 18:50:45]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 18:50:47]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240709 18:50:47]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 18:50:47]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 18:50:47]: [rm_set_force_position] set_state: true

[20240709 18:50:47]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 18:50:47]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 18:50:47]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 18:50:47]: [rm_movel] receive_state: true

[20240709 18:50:49]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 18:50:49]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 18:50:49]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 18:50:49]: [rm_movel] receive_state: true

[20240709 18:50:50]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 18:50:50]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 18:50:50]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 18:50:50]: send is: {"command":"stop_force_position"}



[20240709 18:50:50]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 18:50:50]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 18:50:50]: [rm_stop_force_position] stop_state: true

[20240709 18:50:50]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240709 18:50:50]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}



[20240709 18:50:50]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 18:50:50]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 18:50:50]: [rm_set_force_position] set_state: true

[20240709 18:50:50]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 18:50:50]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 18:50:50]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 18:50:50]: [rm_movel] receive_state: true

[20240709 18:50:51]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 18:50:51]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 18:50:51]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 18:50:51]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 18:50:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 18:50:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 18:50:51]: [rm_movel] receive_state: true

[20240709 18:50:52]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 18:50:52]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 18:50:52]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 18:50:53]: send is: {"command":"stop_force_position"}



[20240709 18:50:53]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 18:50:53]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 18:50:53]: [rm_stop_force_position] stop_state: true

[20240709 18:50:53]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240709 18:50:53]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 18:50:53]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 18:50:53]: [rm_set_force_position] set_state: true

[20240709 18:50:53]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 18:50:53]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 18:50:53]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 18:50:53]: [rm_movel] receive_state: true

[20240709 18:50:54]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 18:50:54]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 18:50:54]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 18:50:54]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 18:50:54]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 18:50:54]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 18:50:54]: [rm_movel] receive_state: true

[20240709 18:50:55]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 18:50:55]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 18:50:55]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 18:50:56]: send is: {"command":"stop_force_position"}



[20240709 18:50:56]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 18:50:56]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 18:50:56]: [rm_stop_force_position] stop_state: true

[20240709 19:41:32] Begin API Testing.
[20240709 19:41:32]: send is: {"command":"get_arm_software_info"}



[20240709 19:41:32]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240709 19:41:32]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240709 19:41:32]: [rm_get_arm_software_info] Product version: RM65-BI

[20240709 19:41:32]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240709 19:41:32]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240709 19:41:32]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240709 19:41:32]: [rm_get_arm_software_info] Dynamic model version: 2

[20240709 19:41:32]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240709 19:41:32]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240709 19:41:32]: send is: {"command":"get_realtime_push"}



[20240709 19:41:32]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240709 19:41:32]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240709 19:41:32]: [rm_get_realtime_push] cycle parse result: 5

[20240709 19:41:32]: [rm_get_realtime_push] port parse result: 8089

[20240709 19:41:32]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240709 19:41:32]: [rm_get_realtime_push] enable parse result: 1

[20240709 19:41:32]: send is: {"command":"get_current_work_frame"}



[20240709 19:41:32]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240709 19:41:32]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240709 19:41:32]: [get_current_work_frame] Work frame Name: World

[20240709 19:41:32]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240709 19:41:32]: send is: {"command":"get_current_tool_frame"}



[20240709 19:41:32]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240709 19:41:32]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240709 19:41:32]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240709 19:41:32]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240709 19:41:32]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240709 19:41:32]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240709 19:41:32]: send is: {"command":"get_install_pose"}



[20240709 19:41:32]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240709 19:41:32]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240709 19:41:32]: [rm_get_install_pose] pose parse result:

[20240709 19:41:32]:  0

[20240709 19:41:32]:  0

[20240709 19:41:32]:  0

[20240709 19:41:32]: send is: {"command":"get_joint_min_pos"}



[20240709 19:41:32]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240709 19:41:32]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240709 19:41:32]: [rm_get_joint_min_pos] min_pos parse result:

[20240709 19:41:32]:  -178000

[20240709 19:41:32]:  -130000

[20240709 19:41:32]:  -135000

[20240709 19:41:32]:  -178000

[20240709 19:41:32]:  -128000

[20240709 19:41:32]:  -360000

[20240709 19:41:32]: send is: {"command":"get_joint_max_pos"}



[20240709 19:41:32]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240709 19:41:32]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240709 19:41:32]: [rm_get_joint_max_pos] max_pos parse result:

[20240709 19:41:32]:  178000

[20240709 19:41:32]:  130000

[20240709 19:41:32]:  135000

[20240709 19:41:32]:  178000

[20240709 19:41:32]:  128000

[20240709 19:41:32]:  360000

[20240709 19:41:32]: send is: {"command":"get_joint_max_acc"}



[20240709 19:41:32]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240709 19:41:32]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240709 19:41:32]: [rm_get_joint_max_acc] joint_acc parse result:

[20240709 19:41:32]:  100000

[20240709 19:41:32]:  100000

[20240709 19:41:32]:  100000

[20240709 19:41:32]:  100000

[20240709 19:41:32]:  100000

[20240709 19:41:32]:  100000

[20240709 19:41:32]: send is: {"command":"get_joint_max_speed"}



[20240709 19:41:32]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[13333,13333,25000,20833,20833,20833],"state":"joint_max_speed"}



[20240709 19:41:32]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[13333,13333,25000,20833,20833,20833],"state":"joint_max_speed"}



[20240709 19:41:32]: [rm_get_joint_max_speed] joint_speed parse result:

[20240709 19:41:32]:  13333

[20240709 19:41:32]:  13333

[20240709 19:41:32]:  25000

[20240709 19:41:32]:  20833

[20240709 19:41:32]:  20833

[20240709 19:41:32]:  20833

[20240709 19:41:32]: send is: {"command":"get_current_arm_state"}



[20240709 19:41:32]: thread_socket_receive len 146 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[13,-21301,-78542,-34,-80117,20],"pose":[300002,-13,299109,3141,0,0],"sys_err":0},"state":"current_arm_state"}



[20240709 19:41:32]: thread_socket_receive len 146 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[13,-21301,-78542,-34,-80117,20],"pose":[300002,-13,299109,3141,0,0],"sys_err":0},"state":"current_arm_state"}



[20240709 19:41:32]: [rm_get_current_arm_state] arm_err parse result: 0

[20240709 19:41:32]: [rm_get_current_arm_state] sys_err parse result: 0

[20240709 19:41:32]: [rm_get_current_arm_state] joint parse result:

[20240709 19:41:32]:  13

[20240709 19:41:32]:  -21301

[20240709 19:41:32]:  -78542

[20240709 19:41:32]:  -34

[20240709 19:41:32]:  -80117

[20240709 19:41:32]:  20

[20240709 19:41:32]: [rm_get_current_arm_state] pose parse result:

[20240709 19:41:32]:  300002

[20240709 19:41:32]:  -13

[20240709 19:41:32]:  299109

[20240709 19:41:32]:  3141

[20240709 19:41:32]:  0

[20240709 19:41:32]:  0

[20240709 19:41:32]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}



[20240709 19:41:32]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240709 19:41:32]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240709 19:41:32]: [rm_movej] receive_state: true

[20240709 19:41:36]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 19:41:36]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240709 19:41:36]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240709 19:41:36]: [rm_movej_p] receive_state: true

[20240709 19:41:36]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:41:36]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:41:36]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 19:41:38]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240709 19:41:38]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 19:41:38]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 19:41:38]: [rm_set_force_position] set_state: true

[20240709 19:41:38]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 19:41:38]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:41:38]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:41:38]: [rm_movel] receive_state: true

[20240709 19:41:40]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 19:41:40]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:41:40]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:41:40]: [rm_movel] receive_state: true

[20240709 19:41:41]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:41:41]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:41:41]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 19:41:41]: send is: {"command":"stop_force_position"}



[20240709 19:41:41]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 19:41:41]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 19:41:41]: [rm_stop_force_position] stop_state: true

[20240709 19:41:41]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240709 19:41:41]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}



[20240709 19:41:41]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 19:41:41]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 19:41:41]: [rm_set_force_position] set_state: true

[20240709 19:41:41]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 19:41:41]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:41:41]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:41:41]: [rm_movel] receive_state: true

[20240709 19:41:42]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:41:42]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:41:42]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 19:41:42]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 19:41:42]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:41:42]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:41:42]: [rm_movel] receive_state: true

[20240709 19:41:43]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:41:43]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:41:43]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 19:41:44]: send is: {"command":"stop_force_position"}



[20240709 19:41:44]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 19:41:44]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 19:41:44]: [rm_stop_force_position] stop_state: true

[20240709 19:41:44]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240709 19:41:44]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 19:41:44]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 19:41:44]: [rm_set_force_position] set_state: true

[20240709 19:41:44]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 19:41:44]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:41:44]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:41:44]: [rm_movel] receive_state: true

[20240709 19:41:44]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:41:44]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:41:44]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 19:41:45]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 19:41:45]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:41:45]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:41:45]: [rm_movel] receive_state: true

[20240709 19:41:46]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:41:46]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:41:46]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 19:41:47]: send is: {"command":"stop_force_position"}



[20240709 19:41:47]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 19:41:47]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 19:41:47]: [rm_stop_force_position] stop_state: true

[20240709 19:41:51] Begin API Testing.
[20240709 19:41:51]: send is: {"command":"get_arm_software_info"}



[20240709 19:41:51]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240709 19:41:51]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240709 19:41:51]: [rm_get_arm_software_info] Product version: RM65-BI

[20240709 19:41:51]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240709 19:41:51]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240709 19:41:51]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240709 19:41:51]: [rm_get_arm_software_info] Dynamic model version: 2

[20240709 19:41:51]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240709 19:41:51]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240709 19:41:51]: send is: {"command":"get_realtime_push"}



[20240709 19:41:51]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240709 19:41:51]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240709 19:41:51]: [rm_get_realtime_push] cycle parse result: 5

[20240709 19:41:51]: [rm_get_realtime_push] port parse result: 8089

[20240709 19:41:51]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240709 19:41:51]: [rm_get_realtime_push] enable parse result: 1

[20240709 19:41:51]: send is: {"command":"get_current_work_frame"}



[20240709 19:41:51]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240709 19:41:51]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240709 19:41:51]: [get_current_work_frame] Work frame Name: World

[20240709 19:41:51]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240709 19:41:51]: send is: {"command":"get_current_tool_frame"}



[20240709 19:41:51]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240709 19:41:51]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240709 19:41:51]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240709 19:41:51]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240709 19:41:51]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240709 19:41:51]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240709 19:41:51]: send is: {"command":"get_install_pose"}



[20240709 19:41:51]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240709 19:41:51]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240709 19:41:51]: [rm_get_install_pose] pose parse result:

[20240709 19:41:51]:  0

[20240709 19:41:51]:  0

[20240709 19:41:51]:  0

[20240709 19:41:51]: send is: {"command":"get_joint_min_pos"}



[20240709 19:41:51]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240709 19:41:51]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240709 19:41:51]: [rm_get_joint_min_pos] min_pos parse result:

[20240709 19:41:51]:  -178000

[20240709 19:41:51]:  -130000

[20240709 19:41:51]:  -135000

[20240709 19:41:51]:  -178000

[20240709 19:41:51]:  -128000

[20240709 19:41:51]:  -360000

[20240709 19:41:51]: send is: {"command":"get_joint_max_pos"}



[20240709 19:41:51]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240709 19:41:51]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240709 19:41:51]: [rm_get_joint_max_pos] max_pos parse result:

[20240709 19:41:51]:  178000

[20240709 19:41:51]:  130000

[20240709 19:41:51]:  135000

[20240709 19:41:51]:  178000

[20240709 19:41:51]:  128000

[20240709 19:41:51]:  360000

[20240709 19:41:51]: send is: {"command":"get_joint_max_acc"}



[20240709 19:41:51]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240709 19:41:51]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240709 19:41:51]: [rm_get_joint_max_acc] joint_acc parse result:

[20240709 19:41:51]:  100000

[20240709 19:41:51]:  100000

[20240709 19:41:51]:  100000

[20240709 19:41:51]:  100000

[20240709 19:41:51]:  100000

[20240709 19:41:51]:  100000

[20240709 19:41:51]: send is: {"command":"get_joint_max_speed"}



[20240709 19:41:51]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[13333,13333,25000,20833,20833,20833],"state":"joint_max_speed"}



[20240709 19:41:51]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[13333,13333,25000,20833,20833,20833],"state":"joint_max_speed"}



[20240709 19:41:51]: [rm_get_joint_max_speed] joint_speed parse result:

[20240709 19:41:51]:  13333

[20240709 19:41:51]:  13333

[20240709 19:41:51]:  25000

[20240709 19:41:51]:  20833

[20240709 19:41:51]:  20833

[20240709 19:41:51]:  20833

[20240709 19:41:51]: send is: {"command":"get_current_arm_state"}



[20240709 19:41:51]: thread_socket_receive len 144 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[16,-20574,-68453,-34,-90946,16],"pose":[300000,0,339735,3140,0,0],"sys_err":0},"state":"current_arm_state"}



[20240709 19:41:51]: thread_socket_receive len 144 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[16,-20574,-68453,-34,-90946,16],"pose":[300000,0,339735,3140,0,0],"sys_err":0},"state":"current_arm_state"}



[20240709 19:41:51]: [rm_get_current_arm_state] arm_err parse result: 0

[20240709 19:41:51]: [rm_get_current_arm_state] sys_err parse result: 0

[20240709 19:41:51]: [rm_get_current_arm_state] joint parse result:

[20240709 19:41:51]:  16

[20240709 19:41:51]:  -20574

[20240709 19:41:51]:  -68453

[20240709 19:41:51]:  -34

[20240709 19:41:51]:  -90946

[20240709 19:41:51]:  16

[20240709 19:41:51]: [rm_get_current_arm_state] pose parse result:

[20240709 19:41:51]:  300000

[20240709 19:41:51]:  0

[20240709 19:41:51]:  339735

[20240709 19:41:51]:  3140

[20240709 19:41:51]:  0

[20240709 19:41:51]:  0

[20240709 19:41:51]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}



[20240709 19:41:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240709 19:41:51]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240709 19:41:51]: [rm_movej] receive_state: true

[20240709 19:41:55]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 19:41:55]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240709 19:41:55]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240709 19:41:55]: [rm_movej_p] receive_state: true

[20240709 19:41:56]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:41:56]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:41:56]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 19:41:58]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240709 19:41:58]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 19:41:58]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 19:41:58]: [rm_set_force_position] set_state: true

[20240709 19:41:58]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 19:41:58]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:41:58]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:41:58]: [rm_movel] receive_state: true

[20240709 19:42:00]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 19:42:00]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:42:00]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:42:00]: [rm_movel] receive_state: true

[20240709 19:42:00]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:42:00]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:42:00]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 19:42:01]: send is: {"command":"stop_force_position"}



[20240709 19:42:01]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 19:42:01]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 19:42:01]: [rm_stop_force_position] stop_state: true

[20240709 19:42:01]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240709 19:42:01]: thread_socket_receive len 97 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":false}



[20240709 19:42:01]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 19:42:01]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 19:42:01]: [rm_set_force_position] set_state: true

[20240709 19:42:01]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 19:42:01]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:42:01]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:42:01]: [rm_movel] receive_state: true

[20240709 19:42:01]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:42:01]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:42:01]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 19:42:02]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 19:42:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:42:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:42:02]: [rm_movel] receive_state: true

[20240709 19:42:03]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:42:03]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:42:03]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 19:42:03]: send is: {"command":"stop_force_position"}



[20240709 19:42:03]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 19:42:03]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 19:42:03]: [rm_stop_force_position] stop_state: true

[20240709 19:42:03]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240709 19:42:03]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 19:42:03]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 19:42:03]: [rm_set_force_position] set_state: true

[20240709 19:42:03]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 19:42:03]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:42:03]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:42:03]: [rm_movel] receive_state: true

[20240709 19:42:04]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:42:04]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:42:04]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 19:42:05]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 19:42:05]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:42:05]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:42:05]: [rm_movel] receive_state: true

[20240709 19:42:06]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:42:06]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:42:06]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 19:42:06]: send is: {"command":"stop_force_position"}



[20240709 19:42:06]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 19:42:06]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 19:42:06]: [rm_stop_force_position] stop_state: true

[20240709 19:47:15] Begin API Testing.
[20240709 19:47:15]: send is: {"command":"get_arm_software_info"}



[20240709 19:47:15]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240709 19:47:15]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240709 19:47:15]: [rm_get_arm_software_info] Product version: RM65-BI

[20240709 19:47:15]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240709 19:47:15]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240709 19:47:15]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240709 19:47:15]: [rm_get_arm_software_info] Dynamic model version: 2

[20240709 19:47:15]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240709 19:47:15]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240709 19:47:15]: send is: {"command":"get_realtime_push"}



[20240709 19:47:15]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240709 19:47:15]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240709 19:47:15]: [rm_get_realtime_push] cycle parse result: 5

[20240709 19:47:15]: [rm_get_realtime_push] port parse result: 8089

[20240709 19:47:15]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240709 19:47:15]: [rm_get_realtime_push] enable parse result: 1

[20240709 19:47:15]: send is: {"command":"get_current_work_frame"}



[20240709 19:47:15]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240709 19:47:15]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240709 19:47:15]: [get_current_work_frame] Work frame Name: World

[20240709 19:47:15]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240709 19:47:15]: send is: {"command":"get_current_tool_frame"}



[20240709 19:47:15]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240709 19:47:15]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240709 19:47:15]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240709 19:47:15]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240709 19:47:15]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240709 19:47:15]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240709 19:47:15]: send is: {"command":"get_install_pose"}



[20240709 19:47:15]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240709 19:47:15]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240709 19:47:15]: [rm_get_install_pose] pose parse result:

[20240709 19:47:15]:  0

[20240709 19:47:15]:  0

[20240709 19:47:15]:  0

[20240709 19:47:15]: send is: {"command":"get_joint_min_pos"}



[20240709 19:47:15]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240709 19:47:15]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240709 19:47:15]: [rm_get_joint_min_pos] min_pos parse result:

[20240709 19:47:15]:  -178000

[20240709 19:47:15]:  -130000

[20240709 19:47:15]:  -135000

[20240709 19:47:15]:  -178000

[20240709 19:47:15]:  -128000

[20240709 19:47:15]:  -360000

[20240709 19:47:15]: send is: {"command":"get_joint_max_pos"}



[20240709 19:47:15]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240709 19:47:15]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240709 19:47:15]: [rm_get_joint_max_pos] max_pos parse result:

[20240709 19:47:15]:  178000

[20240709 19:47:15]:  130000

[20240709 19:47:15]:  135000

[20240709 19:47:15]:  178000

[20240709 19:47:15]:  128000

[20240709 19:47:15]:  360000

[20240709 19:47:15]: send is: {"command":"get_joint_max_acc"}



[20240709 19:47:15]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240709 19:47:15]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240709 19:47:15]: [rm_get_joint_max_acc] joint_acc parse result:

[20240709 19:47:15]:  100000

[20240709 19:47:15]:  100000

[20240709 19:47:15]:  100000

[20240709 19:47:15]:  100000

[20240709 19:47:15]:  100000

[20240709 19:47:15]:  100000

[20240709 19:47:15]: send is: {"command":"get_joint_max_speed"}



[20240709 19:47:15]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[13333,13333,25000,20833,20833,20833],"state":"joint_max_speed"}



[20240709 19:47:15]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[13333,13333,25000,20833,20833,20833],"state":"joint_max_speed"}



[20240709 19:47:15]: [rm_get_joint_max_speed] joint_speed parse result:

[20240709 19:47:15]:  13333

[20240709 19:47:15]:  13333

[20240709 19:47:15]:  25000

[20240709 19:47:15]:  20833

[20240709 19:47:15]:  20833

[20240709 19:47:15]:  20833

[20240709 19:47:15]: send is: {"command":"get_current_arm_state"}



[20240709 19:47:15]: thread_socket_receive len 145 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[15,-21104,-60647,-35,-98248,10],"pose":[300006,-9,365455,3140,0,0],"sys_err":0},"state":"current_arm_state"}



[20240709 19:47:15]: thread_socket_receive len 145 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[15,-21104,-60647,-35,-98248,10],"pose":[300006,-9,365455,3140,0,0],"sys_err":0},"state":"current_arm_state"}



[20240709 19:47:15]: [rm_get_current_arm_state] arm_err parse result: 0

[20240709 19:47:15]: [rm_get_current_arm_state] sys_err parse result: 0

[20240709 19:47:15]: [rm_get_current_arm_state] joint parse result:

[20240709 19:47:15]:  15

[20240709 19:47:15]:  -21104

[20240709 19:47:15]:  -60647

[20240709 19:47:15]:  -35

[20240709 19:47:15]:  -98248

[20240709 19:47:15]:  10

[20240709 19:47:15]: [rm_get_current_arm_state] pose parse result:

[20240709 19:47:15]:  300006

[20240709 19:47:15]:  -9

[20240709 19:47:15]:  365455

[20240709 19:47:15]:  3140

[20240709 19:47:15]:  0

[20240709 19:47:15]:  0

[20240709 19:47:15]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}



[20240709 19:47:15]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240709 19:47:15]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240709 19:47:15]: [rm_movej] receive_state: true

[20240709 19:47:18]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 19:47:18]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240709 19:47:18]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240709 19:47:18]: [rm_movej_p] receive_state: true

[20240709 19:47:21]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240709 19:47:21]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:47:21]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 19:47:21]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 19:47:21]: [rm_set_force_position] set_state: true

[20240709 19:47:21]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 19:47:21]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:47:21]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:47:21]: [rm_movel] receive_state: true

[20240709 19:47:25]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 19:47:25]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:47:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:47:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:47:25]: [rm_movel] receive_state: true

[20240709 19:47:25]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:47:25]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:47:25]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 19:47:27]: send is: {"command":"stop_force_position"}



[20240709 19:47:27]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:47:27]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 19:47:27]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 19:47:27]: [rm_stop_force_position] stop_state: true

[20240709 19:47:27]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240709 19:47:27]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 19:47:27]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 19:47:27]: [rm_set_force_position] set_state: true

[20240709 19:47:27]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 19:47:27]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:47:27]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:47:27]: [rm_movel] receive_state: true

[20240709 19:47:28]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:47:28]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:47:28]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 19:47:30]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 19:47:30]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:47:30]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:47:30]: [rm_movel] receive_state: true

[20240709 19:47:31]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:47:31]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:47:31]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 19:47:33]: send is: {"command":"stop_force_position"}



[20240709 19:47:33]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 19:47:33]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 19:47:33]: [rm_stop_force_position] stop_state: true

[20240709 19:47:33]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240709 19:47:33]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 19:47:33]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240709 19:47:33]: [rm_set_force_position] set_state: true

[20240709 19:47:33]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 19:47:33]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:47:33]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:47:33]: [rm_movel] receive_state: true

[20240709 19:47:34]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:47:34]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:47:34]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 19:47:36]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240709 19:47:36]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:47:36]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240709 19:47:36]: [rm_movel] receive_state: true

[20240709 19:47:37]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:47:37]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240709 19:47:37]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240709 19:47:39]: send is: {"command":"stop_force_position"}



[20240709 19:47:39]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 19:47:39]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240709 19:47:39]: [rm_stop_force_position] stop_state: true

[20240710 09:41:15] Begin API Testing.
[20240710 09:41:15]: send is: {"command":"get_arm_software_info"}



[20240710 09:41:15]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240710 09:41:15]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240710 09:41:15]: [rm_get_arm_software_info] Product version: RM65-BI

[20240710 09:41:15]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240710 09:41:15]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240710 09:41:15]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240710 09:41:15]: [rm_get_arm_software_info] Dynamic model version: 2

[20240710 09:41:15]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240710 09:41:15]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240710 09:41:15]: send is: {"command":"get_realtime_push"}



[20240710 09:41:15]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240710 09:41:15]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240710 09:41:15]: [rm_get_realtime_push] cycle parse result: 5

[20240710 09:41:15]: [rm_get_realtime_push] port parse result: 8089

[20240710 09:41:15]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240710 09:41:15]: [rm_get_realtime_push] enable parse result: 1

[20240710 09:41:15]: send is: {"command":"get_current_work_frame"}



[20240710 09:41:15]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240710 09:41:15]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240710 09:41:15]: [get_current_work_frame] Work frame Name: World

[20240710 09:41:15]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240710 09:41:15]: send is: {"command":"get_current_tool_frame"}



[20240710 09:41:15]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240710 09:41:15]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240710 09:41:15]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240710 09:41:15]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240710 09:41:15]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240710 09:41:15]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240710 09:41:15]: send is: {"command":"get_install_pose"}



[20240710 09:41:15]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240710 09:41:15]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240710 09:41:15]: [rm_get_install_pose] pose parse result:

[20240710 09:41:15]:  0

[20240710 09:41:15]:  0

[20240710 09:41:15]:  0

[20240710 09:41:15]: send is: {"command":"get_joint_min_pos"}



[20240710 09:41:15]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240710 09:41:15]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240710 09:41:15]: [rm_get_joint_min_pos] min_pos parse result:

[20240710 09:41:15]:  -178000

[20240710 09:41:15]:  -130000

[20240710 09:41:15]:  -135000

[20240710 09:41:15]:  -178000

[20240710 09:41:15]:  -128000

[20240710 09:41:15]:  -360000

[20240710 09:41:16]: send is: {"command":"get_joint_max_pos"}



[20240710 09:41:16]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240710 09:41:16]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240710 09:41:16]: [rm_get_joint_max_pos] max_pos parse result:

[20240710 09:41:16]:  178000

[20240710 09:41:16]:  130000

[20240710 09:41:16]:  135000

[20240710 09:41:16]:  178000

[20240710 09:41:16]:  128000

[20240710 09:41:16]:  360000

[20240710 09:41:16]: send is: {"command":"get_joint_max_acc"}



[20240710 09:41:16]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240710 09:41:16]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240710 09:41:16]: [rm_get_joint_max_acc] joint_acc parse result:

[20240710 09:41:16]:  100000

[20240710 09:41:16]:  100000

[20240710 09:41:16]:  100000

[20240710 09:41:16]:  100000

[20240710 09:41:16]:  100000

[20240710 09:41:16]:  100000

[20240710 09:41:16]: send is: {"command":"get_joint_max_speed"}



[20240710 09:41:16]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[13333,13333,25000,20833,20833,20833],"state":"joint_max_speed"}



[20240710 09:41:16]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[13333,13333,25000,20833,20833,20833],"state":"joint_max_speed"}



[20240710 09:41:16]: [rm_get_joint_max_speed] joint_speed parse result:

[20240710 09:41:16]:  13333

[20240710 09:41:16]:  13333

[20240710 09:41:16]:  25000

[20240710 09:41:16]:  20833

[20240710 09:41:16]:  20833

[20240710 09:41:16]:  20833

[20240710 09:41:16]: send is: {"command":"get_current_arm_state"}



[20240710 09:41:16]: thread_socket_receive len 146 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[13,767,-105257,-126,-75526,16],"pose":[199849,-259,299934,3139,0,0],"sys_err":0},"state":"current_arm_state"}



[20240710 09:41:16]: thread_socket_receive len 146 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[13,767,-105257,-126,-75526,16],"pose":[199849,-259,299934,3139,0,0],"sys_err":0},"state":"current_arm_state"}



[20240710 09:41:16]: [rm_get_current_arm_state] arm_err parse result: 0

[20240710 09:41:16]: [rm_get_current_arm_state] sys_err parse result: 0

[20240710 09:41:16]: [rm_get_current_arm_state] joint parse result:

[20240710 09:41:16]:  13

[20240710 09:41:16]:  767

[20240710 09:41:16]:  -105257

[20240710 09:41:16]:  -126

[20240710 09:41:16]:  -75526

[20240710 09:41:16]:  16

[20240710 09:41:16]: [rm_get_current_arm_state] pose parse result:

[20240710 09:41:16]:  199849

[20240710 09:41:16]:  -259

[20240710 09:41:16]:  299934

[20240710 09:41:16]:  3139

[20240710 09:41:16]:  0

[20240710 09:41:16]:  0

[20240710 09:41:16]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}



[20240710 09:41:16]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240710 09:41:16]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240710 09:41:16]: [rm_movej] receive_state: true

[20240710 09:41:18]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240710 09:41:18]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240710 09:41:18]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240710 09:41:18]: [rm_movej_p] receive_state: true

[20240710 09:41:22]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240710 09:41:22]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:41:22]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240710 09:41:22]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240710 09:41:22]: [rm_set_force_position] set_state: true

[20240710 09:41:22]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240710 09:41:22]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240710 09:41:22]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240710 09:41:22]: [rm_movel] receive_state: true

[20240710 09:41:25]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240710 09:41:25]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:41:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240710 09:41:25]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240710 09:41:25]: [rm_movel] receive_state: true

[20240710 09:41:25]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:41:25]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:41:25]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240710 09:41:27]: send is: {"command":"stop_force_position"}



[20240710 09:41:27]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:41:27]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240710 09:41:27]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240710 09:41:27]: [rm_stop_force_position] stop_state: true

[20240710 09:41:27]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240710 09:41:27]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240710 09:41:27]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240710 09:41:27]: [rm_set_force_position] set_state: true

[20240710 09:41:27]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240710 09:41:27]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240710 09:41:27]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240710 09:41:27]: [rm_movel] receive_state: true

[20240710 09:41:28]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:41:28]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:41:28]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240710 09:41:30]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240710 09:41:30]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240710 09:41:30]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240710 09:41:30]: [rm_movel] receive_state: true

[20240710 09:41:31]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:41:31]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:41:31]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240710 09:41:33]: send is: {"command":"stop_force_position"}



[20240710 09:41:33]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240710 09:41:33]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240710 09:41:33]: [rm_stop_force_position] stop_state: true

[20240710 09:41:33]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240710 09:41:33]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240710 09:41:33]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240710 09:41:33]: [rm_set_force_position] set_state: true

[20240710 09:41:33]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240710 09:41:33]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240710 09:41:33]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240710 09:41:33]: [rm_movel] receive_state: true

[20240710 09:41:34]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:41:34]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:41:34]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240710 09:41:36]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240710 09:41:36]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240710 09:41:36]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240710 09:41:36]: [rm_movel] receive_state: true

[20240710 09:41:37]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:41:37]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:41:37]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240710 09:41:39]: send is: {"command":"stop_force_position"}



[20240710 09:41:39]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240710 09:41:39]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240710 09:41:39]: [rm_stop_force_position] stop_state: true

[20240710 09:55:44] Begin API Testing.
[20240710 09:55:44]: send is: {"command":"get_arm_software_info"}



[20240710 09:55:44]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240710 09:55:44]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.4"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/06/24 20:34:04","commit_id":"8fdd9ee","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/06/24 20:34:18","commit_id":"8d1269e","version":"V1.5.6"}}



[20240710 09:55:44]: [rm_get_arm_software_info] Product version: RM65-BI

[20240710 09:55:44]: [rm_get_arm_software_info] Algorithm version: 1.3.4

[20240710 09:55:44]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240710 09:55:44]: [rm_get_arm_software_info] Ctrl build Time: 2024/06/24 20:34:04

[20240710 09:55:44]: [rm_get_arm_software_info] Dynamic model version: 2

[20240710 09:55:44]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240710 09:55:44]: [rm_get_arm_software_info] Plan build Time: 2024/06/24 20:34:04

[20240710 09:55:44]: send is: {"command":"get_realtime_push"}



[20240710 09:55:44]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240710 09:55:44]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":5,"enable":true,"ip":"192.168.1.88","port":8089}



[20240710 09:55:44]: [rm_get_realtime_push] cycle parse result: 5

[20240710 09:55:44]: [rm_get_realtime_push] port parse result: 8089

[20240710 09:55:44]: [rm_get_realtime_push] ip parse result: 192.168.1.88

[20240710 09:55:44]: [rm_get_realtime_push] enable parse result: 1

[20240710 09:55:44]: send is: {"command":"get_current_work_frame"}



[20240710 09:55:44]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240710 09:55:44]: thread_socket_receive len 74 robot_handle: 1 message:{"frame_name":"World","pose":[0,0,0,0,0,0],"state":"current_work_frame"}



[20240710 09:55:44]: [get_current_work_frame] Work frame Name: World

[20240710 09:55:44]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240710 09:55:44]: send is: {"command":"get_current_tool_frame"}



[20240710 09:55:44]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240710 09:55:44]: thread_socket_receive len 106 robot_handle: 1 message:{"payload":0,"pose":[0,0,0,0,0,0],"position":[0,0,0],"state":"current_tool_frame","tool_name":"Arm_Tip"}



[20240710 09:55:44]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240710 09:55:44]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240710 09:55:44]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240710 09:55:44]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240710 09:55:44]: send is: {"command":"get_install_pose"}



[20240710 09:55:44]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240710 09:55:44]: thread_socket_receive len 41 robot_handle: 1 message:{"pose":[0,0,0],"state":"install_pose"}



[20240710 09:55:44]: [rm_get_install_pose] pose parse result:

[20240710 09:55:44]:  0

[20240710 09:55:44]:  0

[20240710 09:55:44]:  0

[20240710 09:55:44]: send is: {"command":"get_joint_min_pos"}



[20240710 09:55:44]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240710 09:55:44]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}



[20240710 09:55:44]: [rm_get_joint_min_pos] min_pos parse result:

[20240710 09:55:44]:  -178000

[20240710 09:55:44]:  -130000

[20240710 09:55:44]:  -135000

[20240710 09:55:44]:  -178000

[20240710 09:55:44]:  -128000

[20240710 09:55:44]:  -360000

[20240710 09:55:44]: send is: {"command":"get_joint_max_pos"}



[20240710 09:55:44]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240710 09:55:44]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}



[20240710 09:55:44]: [rm_get_joint_max_pos] max_pos parse result:

[20240710 09:55:44]:  178000

[20240710 09:55:44]:  130000

[20240710 09:55:44]:  135000

[20240710 09:55:44]:  178000

[20240710 09:55:44]:  128000

[20240710 09:55:44]:  360000

[20240710 09:55:44]: send is: {"command":"get_joint_max_acc"}



[20240710 09:55:44]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240710 09:55:44]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}



[20240710 09:55:44]: [rm_get_joint_max_acc] joint_acc parse result:

[20240710 09:55:44]:  100000

[20240710 09:55:44]:  100000

[20240710 09:55:44]:  100000

[20240710 09:55:44]:  100000

[20240710 09:55:44]:  100000

[20240710 09:55:44]:  100000

[20240710 09:55:44]: send is: {"command":"get_joint_max_speed"}



[20240710 09:55:44]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[13333,13333,25000,20833,20833,20833],"state":"joint_max_speed"}



[20240710 09:55:44]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[13333,13333,25000,20833,20833,20833],"state":"joint_max_speed"}



[20240710 09:55:44]: [rm_get_joint_max_speed] joint_speed parse result:

[20240710 09:55:44]:  13333

[20240710 09:55:44]:  13333

[20240710 09:55:44]:  25000

[20240710 09:55:44]:  20833

[20240710 09:55:44]:  20833

[20240710 09:55:44]:  20833

[20240710 09:55:44]: send is: {"command":"get_current_arm_state"}



[20240710 09:55:44]: thread_socket_receive len 145 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[15,-21048,-76745,-35,-82207,26],"pose":[300001,-9,306942,3140,0,0],"sys_err":0},"state":"current_arm_state"}



[20240710 09:55:44]: thread_socket_receive len 145 robot_handle: 1 message:{"arm_state":{"arm_err":0,"joint":[15,-21048,-76745,-35,-82207,26],"pose":[300001,-9,306942,3140,0,0],"sys_err":0},"state":"current_arm_state"}



[20240710 09:55:44]: [rm_get_current_arm_state] arm_err parse result: 0

[20240710 09:55:44]: [rm_get_current_arm_state] sys_err parse result: 0

[20240710 09:55:44]: [rm_get_current_arm_state] joint parse result:

[20240710 09:55:44]:  15

[20240710 09:55:44]:  -21048

[20240710 09:55:44]:  -76745

[20240710 09:55:44]:  -35

[20240710 09:55:44]:  -82207

[20240710 09:55:44]:  26

[20240710 09:55:44]: [rm_get_current_arm_state] pose parse result:

[20240710 09:55:44]:  300001

[20240710 09:55:44]:  -9

[20240710 09:55:44]:  306942

[20240710 09:55:44]:  3140

[20240710 09:55:44]:  0

[20240710 09:55:44]:  0

[20240710 09:55:44]: send is: {"command":"movej","v":20,"joint":[0,0,0,0,0,0],"trajectory_connect":0,"r":1}



[20240710 09:55:44]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240710 09:55:44]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movej","receive_state":true}



[20240710 09:55:44]: [rm_movej] receive_state: true

[20240710 09:55:47]: send is: {"command":"movej_p","v":20,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240710 09:55:47]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240710 09:55:47]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}



[20240710 09:55:47]: [rm_movej_p] receive_state: true

[20240710 09:55:48]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:55:48]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:55:48]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240710 09:55:50]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240710 09:55:50]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240710 09:55:50]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240710 09:55:50]: [rm_set_force_position] set_state: true

[20240710 09:55:50]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240710 09:55:50]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240710 09:55:50]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240710 09:55:50]: [rm_movel] receive_state: true

[20240710 09:55:54]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240710 09:55:54]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:55:54]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240710 09:55:54]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240710 09:55:54]: [rm_movel] receive_state: true

[20240710 09:55:54]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:55:54]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:55:54]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240710 09:55:56]: send is: {"command":"stop_force_position"}



[20240710 09:55:56]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:55:56]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240710 09:55:56]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240710 09:55:56]: [rm_stop_force_position] stop_state: true

[20240710 09:55:56]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240710 09:55:56]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240710 09:55:56]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240710 09:55:56]: [rm_set_force_position] set_state: true

[20240710 09:55:56]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240710 09:55:56]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240710 09:55:56]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240710 09:55:56]: [rm_movel] receive_state: true

[20240710 09:55:57]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:55:57]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:55:57]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240710 09:55:59]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240710 09:55:59]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240710 09:55:59]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240710 09:55:59]: [rm_movel] receive_state: true

[20240710 09:56:00]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:56:00]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:56:00]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240710 09:56:02]: send is: {"command":"stop_force_position"}



[20240710 09:56:02]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240710 09:56:02]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240710 09:56:02]: [rm_stop_force_position] stop_state: true

[20240710 09:56:02]: send is: {"command":"set_force_position","sensor":1,"mode":0,"direction":2,"N":-50}



[20240710 09:56:02]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240710 09:56:02]: thread_socket_receive len 51 robot_handle: 1 message:{"command":"set_force_position","set_state":true}



[20240710 09:56:02]: [rm_set_force_position] set_state: true

[20240710 09:56:02]: send is: {"command":"movel","v":60,"pose":[200000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240710 09:56:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240710 09:56:02]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240710 09:56:02]: [rm_movel] receive_state: true

[20240710 09:56:03]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:56:03]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:56:03]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240710 09:56:05]: send is: {"command":"movel","v":50,"pose":[300000,0,400000,3141,0,0],"trajectory_connect":0,"r":0}



[20240710 09:56:05]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240710 09:56:05]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}



[20240710 09:56:05]: [rm_movel] receive_state: true

[20240710 09:56:06]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:56:06]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}



[20240710 09:56:06]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240710 09:56:08]: send is: {"command":"stop_force_position"}



[20240710 09:56:08]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240710 09:56:08]: thread_socket_receive len 53 robot_handle: 1 message:{"command":"stop_force_position","stop_state":true}



[20240710 09:56:08]: [rm_stop_force_position] stop_state: true

[20240710 14:06:42] Begin API Testing.
[20240711 17:43:29] Begin API Testing.
[20240711 18:01:19] Begin API Testing.
[20240711 18:02:30] Begin API Testing.
[20240711 18:51:59] Begin API Testing.
[20240711 19:07:00] Begin API Testing.
[20240711 20:24:36] Begin API Testing.
[20240711 20:26:32] Begin API Testing.
[20240711 20:30:04] Begin API Testing.
[20240712 17:32:18] Begin API Testing.
[20240712 17:34:04] Begin API Testing.
[20240712 17:35:11] Begin API Testing.
[20240712 17:40:38] Begin API Testing.
[20240712 17:58:42] Begin API Testing.
[20240712 19:00:11] Begin API Testing.
[20240713 09:37:27] Begin API Testing.
[20240713 09:38:06] Begin API Testing.
[20240713 09:40:36] Begin API Testing.
[20240713 16:19:34] Begin API Testing.
[20240713 16:42:06] Begin API Testing.
[20240713 16:47:45] Begin API Testing.
[20240713 16:48:33] Begin API Testing.
