[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 08:39:39] Begin API Testing.
[20240712 08:49:57] Begin API Testing.
[20240712 10:25:51] Begin API Testing.
[20240712 10:25:51]: send is: {"command":"get_arm_software_info"}



[20240712 10:25:51]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.8"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/03 14:19:27","commit_id":"37ec433","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/07/03 14:19:41","commit_id":"768a6d4","version":"V1.5.6"}}

[20240712 10:25:51]: [rm_get_arm_software_info] Product version: RM65-BI

[20240712 10:25:51]: [rm_get_arm_software_info] Algorithm version: 1.3.8

[20240712 10:25:51]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240712 10:25:51]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/03 14:19:27

[20240712 10:25:51]: [rm_get_arm_software_info] Dynamic model version: 2

[20240712 10:25:51]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240712 10:25:51]: [rm_get_arm_software_info] Plan build Time: 2024/07/03 14:19:27

[20240712 10:25:51]: send is: {"command":"get_realtime_push"}



[20240712 10:25:51]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":10,"enable":true,"ip":"192.168.1.6","port":8089}

[20240712 10:25:51]: [rm_get_realtime_push] cycle parse result: 10

[20240712 10:25:51]: [rm_get_realtime_push] port parse result: 8089

[20240712 10:25:51]: [rm_get_realtime_push] ip parse result: 192.168.1.6

[20240712 10:25:51]: [rm_get_realtime_push] enable parse result: 1

[20240712 10:25:51]: send is: {"command":"get_current_work_frame"}



[20240712 10:25:51]: thread_socket_receive len 76 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,1570,0],"state":"current_work_frame"}

[20240712 10:25:51]: [get_current_work_frame] Work frame Name: Base

[20240712 10:25:51]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240712 10:25:51]: send is: {"command":"get_current_tool_frame"}



[20240712 10:25:51]: 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"}

[20240712 10:25:51]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240712 10:25:51]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240712 10:25:51]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240712 10:25:51]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240712 10:25:51]: send is: {"command":"get_install_pose"}



[20240712 10:25:51]: thread_socket_receive len 42 robot_handle: 1 message:{"pose":[0,90,0],"state":"install_pose"}

[20240712 10:25:51]: [rm_get_install_pose] pose parse result:

[20240712 10:25:51]:  0

[20240712 10:25:51]:  90

[20240712 10:25:51]:  0

[20240712 10:25:51]: send is: {"command":"get_joint_min_pos"}



[20240712 10:25:51]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}

[20240712 10:25:51]: [rm_get_joint_min_pos] min_pos parse result:

[20240712 10:25:51]:  -178000

[20240712 10:25:51]:  -130000

[20240712 10:25:51]:  -135000

[20240712 10:25:51]:  -178000

[20240712 10:25:51]:  -128000

[20240712 10:25:51]:  -360000

[20240712 10:25:51]: send is: {"command":"get_joint_max_pos"}



[20240712 10:25:51]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}

[20240712 10:25:51]: [rm_get_joint_max_pos] max_pos parse result:

[20240712 10:25:51]:  178000

[20240712 10:25:51]:  130000

[20240712 10:25:51]:  135000

[20240712 10:25:51]:  178000

[20240712 10:25:51]:  128000

[20240712 10:25:51]:  360000

[20240712 10:25:51]: send is: {"command":"get_joint_max_acc"}



[20240712 10:25:51]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}

[20240712 10:25:51]: [rm_get_joint_max_acc] joint_acc parse result:

[20240712 10:25:51]:  100000

[20240712 10:25:51]:  100000

[20240712 10:25:51]:  100000

[20240712 10:25:51]:  100000

[20240712 10:25:51]:  100000

[20240712 10:25:51]:  100000

[20240712 10:25:51]: send is: {"command":"get_joint_max_speed"}



[20240712 10:25:51]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}

[20240712 10:25:51]: [rm_get_joint_max_speed] joint_speed parse result:

[20240712 10:25:51]:  30000

[20240712 10:25:51]:  30000

[20240712 10:25:51]:  37500

[20240712 10:25:51]:  37500

[20240712 10:25:51]:  37500

[20240712 10:25:51]:  37500

[20240712 10:25:51]: send is: {"command":"set_change_work_frame","frame_name":"Base"}



[20240712 10:25:52]: thread_socket_receive len 62 robot_handle: 1 message:{"change_work_frame":true,"command":"set_change_work_frame"}

[20240712 10:25:52]: [rm_change_work_frame] change_work_frame: true

[20240712 10:25:52]: send is: {"command":"get_current_work_frame"}



[20240712 10:25:52]: thread_socket_receive len 76 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,1570,0],"state":"current_work_frame"}

[20240712 10:25:52]: [get_current_work_frame] Work frame Name: Base

[20240712 10:25:52]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240712 10:25:52]: send is: {"command":"set_lift_height","speed":20,"height":500}



[20240712 10:25:59]: send is: {"command":"movej_p","v":20,"pose":[100000,0,700000,0,0,3141],"trajectory_connect":0,"r":0}



[20240712 10:25:59]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}

[20240712 10:25:59]: [rm_movej_p] receive_state: true

[20240712 10:25:59]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:25:59]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[-2,21796,-90050,-2,68252,-31],"state":"arm_current_trajectory","type":"none"}

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-2, 21796, -90050, -2, 68252, -31, 40)

[20240712 10:25:59]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 10:25:59]: [rm_get_arm_current_trajectory] Joint Angles: -0.002, 21.796, -90.050, -0.002, 68.252, -0.031

[20240712 10:25:59]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[-2,21796,-90052,-1,68252,-30],"state":"arm_current_trajectory","type":"none"}

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-2, 21796, -90052, -1, 68252, -30, 40)

[20240712 10:25:59]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 10:25:59]: [rm_get_arm_current_trajectory] Joint Angles: -0.002, 21.796, -90.052, -0.001, 68.252, -0.030

[20240712 10:25:59]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[-2,21796,-90052,-1,68254,-32],"state":"arm_current_trajectory","type":"none"}

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-2, 21796, -90052, -1, 68254, -32, 40)

[20240712 10:25:59]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 10:25:59]: [rm_get_arm_current_trajectory] Joint Angles: -0.002, 21.796, -90.052, -0.001, 68.254, -0.032

[20240712 10:25:59]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[-1,21796,-90049,-1,68252,-31],"state":"arm_current_trajectory","type":"none"}

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-1, 21796, -90049, -1, 68252, -31, 40)

[20240712 10:25:59]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 10:25:59]: [rm_get_arm_current_trajectory] Joint Angles: -0.001, 21.796, -90.049, -0.001, 68.252, -0.031

[20240712 10:25:59]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[-2,21795,-90050,-1,68251,-32],"state":"arm_current_trajectory","type":"none"}

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-2, 21795, -90050, -1, 68251, -32, 40)

[20240712 10:25:59]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 10:25:59]: [rm_get_arm_current_trajectory] Joint Angles: -0.002, 21.795, -90.050, -0.001, 68.251, -0.032

[20240712 10:25:59]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[-2,21796,-90050,-1,68252,-32],"state":"arm_current_trajectory","type":"none"}

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-2, 21796, -90050, -1, 68252, -32, 40)

[20240712 10:25:59]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 10:25:59]: [rm_get_arm_current_trajectory] Joint Angles: -0.002, 21.796, -90.050, -0.001, 68.252, -0.032

[20240712 10:25:59]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[-4,21795,-90052,-2,68252,-31],"state":"arm_current_trajectory","type":"none"}

[20240712 10:25:59]: i is 0 command is current_trajectory_state

[20240712 10:25:59]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-4, 21795, -90052, -2, 68252, -31, 40)

[20240712 10:25:59]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 10:25:59]: [rm_get_arm_current_trajectory] Joint Angles: -0.004, 21.795, -90.052, -0.002, 68.252, -0.031

[20240712 10:26:00]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[-2,21796,-90050,-1,68252,-31],"state":"arm_current_trajectory","type":"none"}

[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-2, 21796, -90050, -1, 68252, -31, 40)

[20240712 10:26:00]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 10:26:00]: [rm_get_arm_current_trajectory] Joint Angles: -0.002, 21.796, -90.050, -0.001, 68.252, -0.031

[20240712 10:26:00]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: thread_socket_receive len 87 robot_handle: 1 message:{"data":[-1,21796,-90052,0,68252,-31],"state":"arm_current_trajectory","type":"none"}

[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-1, 21796, -90052, 0, 68252, -31, 40)

[20240712 10:26:00]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 10:26:00]: [rm_get_arm_current_trajectory] Joint Angles: -0.001, 21.796, -90.052, 0.000, 68.252, -0.031

[20240712 10:26:00]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[-1,21795,-90050,-1,68254,-32],"state":"arm_current_trajectory","type":"none"}

[20240712 10:26:00]: i is 0 command is current_trajectory_state

[20240712 10:26:00]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-1, 21795, -90050, -1, 68254, -32, 40)

[20240712 10:26:00]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 10:26:00]: [rm_get_arm_current_trajectory] Joint Angles: -0.001, 21.795, -90.050, -0.001, 68.254, -0.032

[20240712 10:26:00]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 10:26:13]: send is: {"command":"movel","v":20,"pose":[100000,0,800000,0,0,3141],"trajectory_connect":0,"r":0}



[20240712 10:26:13]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}

[20240712 10:26:13]: [rm_movel] receive_state: true

[20240712 10:26:13]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:26:13]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 10:26:13]: i is 0 command is current_trajectory_state

[20240712 10:26:13]: i is 0 command is current_trajectory_state

[20240712 10:26:13]: i is 0 command is current_trajectory_state

[20240712 10:26:13]: i is 0 command is current_trajectory_state

[20240712 10:26:13]: i is 0 command is current_trajectory_state

[20240712 10:26:13]: i is 0 command is current_trajectory_state

[20240712 10:26:13]: i is 0 command is current_trajectory_state

[20240712 10:26:13]: i is 0 command is current_trajectory_state

[20240712 10:26:13]: i is 0 command is current_trajectory_state

[20240712 10:26:13]: i is 0 command is current_trajectory_state

[20240712 10:26:13]: i is 0 command is current_trajectory_state

[20240712 10:26:13]: i is 0 command is current_trajectory_state

[20240712 10:26:13]: i is 0 command is current_trajectory_state

[20240712 10:26:13]: i is 0 command is current_trajectory_state

[20240712 10:26:13]: i is 0 command is current_trajectory_state

[20240712 10:26:13]: i is 0 command is current_trajectory_state

[20240712 10:26:13]: i is 0 command is current_trajectory_state

[20240712 10:26:13]: i is 0 command is current_trajectory_state

[20240712 10:26:13]: thread_socket_receive len 87 robot_handle: 1 message:{"data":[-2,7830,-47871,-4,40091,-34],"state":"arm_current_trajectory","type":"none"}

[20240712 10:26:13]: i is 0 command is current_trajectory_state

[20240712 10:26:13]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-2, 7830, -47871, -4, 40091, -34, 40)

[20240712 10:26:13]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 10:26:13]: [rm_get_arm_current_trajectory] Joint Angles: -0.002, 7.830, -47.871, -0.004, 40.091, -0.034

[20240712 10:26:13]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 10:26:23]: send is: {"command":"set_gripper_pick_on","speed":500,"force":200,"block":true}



[20240712 10:26:23]: thread_socket_receive len 40 robot_handle: 1 message:{"command":"set_gripper","state":true}

[20240712 10:26:23]: [rm_set_gripper_pick_on] state: true

[20240712 10:26:43]: send is: {"command":"movel","v":20,"pose":[100000,0,700000,0,0,3141],"trajectory_connect":0,"r":0}



[20240712 10:26:43]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}

[20240712 10:26:43]: [rm_movel] receive_state: true

[20240712 10:26:43]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:26:43]: thread_socket_receive len 86 robot_handle: 1 message:{"data":[100280,12,701810,0,0,3141],"state":"arm_current_trajectory","type":"movel"}

[20240712 10:26:43]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (100280, 12, 701810, 0, 0, 3141, 40)

[20240712 10:26:43]: [rm_get_arm_current_trajectory] Current trajectory is MoveL!

[20240712 10:26:43]: [rm_get_arm_current_trajectory] End effector pose:  0.100, 0.000, 0.702, 0.000, 0.000, 3.141

[20240712 10:26:43]: 

[20240712 10:26:43]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 10:26:43]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 10:26:58]: send is: {"command":"set_lift_height","speed":20,"height":200}



[20240712 10:26:59]: send is: {"command":"get_lift_state"}



[20240712 10:26:59]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:26:59]: [rm_get_lift_state] height parse result: 0

[20240712 10:26:59]: [rm_get_lift_state] current parse result: 0

[20240712 10:26:59]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:26:59]: [rm_get_lift_state] mode parse result: 2

[20240712 10:26:59]: send is: {"command":"get_lift_state"}



[20240712 10:26:59]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:26:59]: [rm_get_lift_state] height parse result: 0

[20240712 10:26:59]: [rm_get_lift_state] current parse result: 0

[20240712 10:26:59]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:26:59]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:00]: send is: {"command":"get_lift_state"}



[20240712 10:27:00]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:00]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:00]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:00]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:00]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:01]: send is: {"command":"get_lift_state"}



[20240712 10:27:01]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:01]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:01]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:01]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:01]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:01]: send is: {"command":"get_lift_state"}



[20240712 10:27:01]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:01]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:01]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:01]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:01]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:02]: send is: {"command":"get_lift_state"}



[20240712 10:27:02]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:02]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:02]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:02]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:02]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:02]: send is: {"command":"get_lift_state"}



[20240712 10:27:02]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:02]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:02]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:02]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:02]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:03]: send is: {"command":"get_lift_state"}



[20240712 10:27:03]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:03]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:03]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:03]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:03]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:04]: send is: {"command":"get_lift_state"}



[20240712 10:27:04]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:04]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:04]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:04]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:04]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:04]: send is: {"command":"get_lift_state"}



[20240712 10:27:04]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:04]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:04]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:04]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:04]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:05]: send is: {"command":"get_lift_state"}



[20240712 10:27:05]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:05]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:05]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:05]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:05]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:05]: send is: {"command":"get_lift_state"}



[20240712 10:27:05]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:05]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:05]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:05]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:05]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:06]: send is: {"command":"get_lift_state"}



[20240712 10:27:06]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:06]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:06]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:06]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:06]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:06]: send is: {"command":"get_lift_state"}



[20240712 10:27:06]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:06]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:06]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:06]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:06]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:07]: send is: {"command":"get_lift_state"}



[20240712 10:27:07]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:07]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:07]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:07]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:07]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:07]: send is: {"command":"get_lift_state"}



[20240712 10:27:07]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:07]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:07]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:07]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:07]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:08]: send is: {"command":"get_lift_state"}



[20240712 10:27:08]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:08]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:08]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:08]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:08]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:08]: send is: {"command":"get_lift_state"}



[20240712 10:27:08]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:08]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:08]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:08]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:08]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:09]: send is: {"command":"get_lift_state"}



[20240712 10:27:09]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:09]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:09]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:09]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:09]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:10]: send is: {"command":"get_lift_state"}



[20240712 10:27:10]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:10]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:10]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:10]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:10]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:10]: send is: {"command":"get_lift_state"}



[20240712 10:27:10]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:10]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:10]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:10]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:10]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:11]: send is: {"command":"get_lift_state"}



[20240712 10:27:11]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:11]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:11]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:11]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:11]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:11]: send is: {"command":"get_lift_state"}



[20240712 10:27:11]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:11]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:11]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:11]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:11]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:12]: send is: {"command":"get_lift_state"}



[20240712 10:27:12]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:12]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:12]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:12]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:12]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:12]: send is: {"command":"get_lift_state"}



[20240712 10:27:12]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:12]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:12]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:12]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:12]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:13]: send is: {"command":"get_lift_state"}



[20240712 10:27:13]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:13]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:13]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:13]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:13]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:13]: send is: {"command":"get_lift_state"}



[20240712 10:27:13]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:13]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:13]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:13]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:13]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:14]: send is: {"command":"get_lift_state"}



[20240712 10:27:14]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:14]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:14]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:14]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:14]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:14]: send is: {"command":"get_lift_state"}



[20240712 10:27:14]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:14]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:14]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:14]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:14]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:15]: send is: {"command":"get_lift_state"}



[20240712 10:27:15]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:15]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:15]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:15]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:15]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:16]: send is: {"command":"get_lift_state"}



[20240712 10:27:16]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:16]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:16]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:16]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:16]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:16]: send is: {"command":"get_lift_state"}



[20240712 10:27:16]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:16]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:16]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:16]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:16]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:17]: send is: {"command":"get_lift_state"}



[20240712 10:27:17]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:17]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:17]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:17]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:17]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:17]: send is: {"command":"get_lift_state"}



[20240712 10:27:17]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:17]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:17]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:17]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:17]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:18]: send is: {"command":"get_lift_state"}



[20240712 10:27:18]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:18]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:18]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:18]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:18]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:18]: send is: {"command":"get_lift_state"}



[20240712 10:27:18]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:18]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:18]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:18]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:18]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:19]: send is: {"command":"get_lift_state"}



[20240712 10:27:19]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:19]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:19]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:19]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:19]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:19]: send is: {"command":"get_lift_state"}



[20240712 10:27:19]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:19]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:19]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:19]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:19]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:20]: send is: {"command":"get_lift_state"}



[20240712 10:27:20]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:20]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:20]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:20]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:20]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:20]: send is: {"command":"get_lift_state"}



[20240712 10:27:20]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:20]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:20]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:20]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:20]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:21]: send is: {"command":"get_lift_state"}



[20240712 10:27:21]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:21]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:21]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:21]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:21]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:22]: send is: {"command":"get_lift_state"}



[20240712 10:27:22]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:22]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:22]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:22]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:22]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:22]: send is: {"command":"get_lift_state"}



[20240712 10:27:22]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:22]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:22]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:22]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:22]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:23]: send is: {"command":"get_lift_state"}



[20240712 10:27:23]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:23]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:23]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:23]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:23]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:23]: send is: {"command":"get_lift_state"}



[20240712 10:27:23]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:23]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:23]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:23]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:23]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:24]: send is: {"command":"get_lift_state"}



[20240712 10:27:24]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:24]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:24]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:24]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:24]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:24]: send is: {"command":"get_lift_state"}



[20240712 10:27:24]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:24]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:24]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:24]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:24]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:25]: send is: {"command":"get_lift_state"}



[20240712 10:27:25]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:25]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:25]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:25]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:25]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:25]: send is: {"command":"get_lift_state"}



[20240712 10:27:25]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:25]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:25]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:25]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:25]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:26]: send is: {"command":"get_lift_state"}



[20240712 10:27:26]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:26]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:26]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:26]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:26]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:26]: send is: {"command":"get_lift_state"}



[20240712 10:27:26]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:26]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:26]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:26]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:26]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:27]: send is: {"command":"get_lift_state"}



[20240712 10:27:27]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:27]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:27]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:27]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:27]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:28]: send is: {"command":"get_lift_state"}



[20240712 10:27:28]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:28]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:28]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:28]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:28]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:28]: send is: {"command":"get_lift_state"}



[20240712 10:27:28]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:28]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:28]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:28]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:28]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:29]: send is: {"command":"get_lift_state"}



[20240712 10:27:29]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:29]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:29]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:29]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:29]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:29]: send is: {"command":"get_lift_state"}



[20240712 10:27:29]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:29]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:29]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:29]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:29]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:30]: send is: {"command":"get_lift_state"}



[20240712 10:27:30]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:30]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:30]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:30]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:30]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:30]: send is: {"command":"get_lift_state"}



[20240712 10:27:30]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:30]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:30]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:30]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:30]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:31]: send is: {"command":"get_lift_state"}



[20240712 10:27:31]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:31]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:31]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:31]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:31]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:31]: send is: {"command":"get_lift_state"}



[20240712 10:27:31]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:31]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:31]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:31]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:31]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:32]: send is: {"command":"get_lift_state"}



[20240712 10:27:32]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:32]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:32]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:32]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:32]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:32]: send is: {"command":"get_lift_state"}



[20240712 10:27:32]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:32]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:32]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:32]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:32]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:33]: send is: {"command":"get_lift_state"}



[20240712 10:27:33]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:33]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:33]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:33]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:33]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:33]: send is: {"command":"get_lift_state"}



[20240712 10:27:33]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:33]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:33]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:33]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:33]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:34]: send is: {"command":"get_lift_state"}



[20240712 10:27:34]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:34]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:34]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:34]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:34]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:35]: send is: {"command":"get_lift_state"}



[20240712 10:27:35]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:35]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:35]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:35]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:35]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:35]: send is: {"command":"get_lift_state"}



[20240712 10:27:35]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:35]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:35]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:35]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:35]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:36]: send is: {"command":"get_lift_state"}



[20240712 10:27:36]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:36]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:36]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:36]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:36]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:36]: send is: {"command":"get_lift_state"}



[20240712 10:27:36]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:36]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:36]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:36]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:36]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:37]: send is: {"command":"get_lift_state"}



[20240712 10:27:37]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:37]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:37]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:37]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:37]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:37]: send is: {"command":"get_lift_state"}



[20240712 10:27:37]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:37]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:37]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:37]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:37]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:38]: send is: {"command":"get_lift_state"}



[20240712 10:27:38]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:38]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:38]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:38]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:38]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:38]: send is: {"command":"get_lift_state"}



[20240712 10:27:38]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:38]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:38]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:38]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:38]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:39]: send is: {"command":"get_lift_state"}



[20240712 10:27:39]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:39]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:39]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:39]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:39]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:39]: send is: {"command":"get_lift_state"}



[20240712 10:27:39]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:39]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:39]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:39]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:39]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:40]: send is: {"command":"get_lift_state"}



[20240712 10:27:40]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:40]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:40]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:40]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:40]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:40]: send is: {"command":"get_lift_state"}



[20240712 10:27:40]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:40]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:40]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:40]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:40]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:41]: send is: {"command":"get_lift_state"}



[20240712 10:27:41]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:41]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:41]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:41]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:41]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:42]: send is: {"command":"get_lift_state"}



[20240712 10:27:42]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:42]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:42]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:42]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:42]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:42]: send is: {"command":"get_lift_state"}



[20240712 10:27:42]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:42]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:42]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:42]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:42]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:43]: send is: {"command":"get_lift_state"}



[20240712 10:27:43]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:43]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:43]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:43]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:43]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:43]: send is: {"command":"get_lift_state"}



[20240712 10:27:43]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:43]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:43]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:43]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:43]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:44]: send is: {"command":"get_lift_state"}



[20240712 10:27:44]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:44]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:44]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:44]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:44]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:44]: send is: {"command":"get_lift_state"}



[20240712 10:27:44]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:44]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:44]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:44]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:44]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:45]: send is: {"command":"get_lift_state"}



[20240712 10:27:45]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:45]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:45]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:45]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:45]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:45]: send is: {"command":"get_lift_state"}



[20240712 10:27:45]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:45]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:45]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:45]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:45]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:46]: send is: {"command":"get_lift_state"}



[20240712 10:27:46]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:46]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:46]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:46]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:46]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:46]: send is: {"command":"get_lift_state"}



[20240712 10:27:46]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:46]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:46]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:46]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:46]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:47]: send is: {"command":"get_lift_state"}



[20240712 10:27:47]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:47]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:47]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:47]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:47]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:48]: send is: {"command":"get_lift_state"}



[20240712 10:27:48]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:48]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:48]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:48]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:48]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:48]: send is: {"command":"get_lift_state"}



[20240712 10:27:48]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:48]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:48]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:48]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:48]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:49]: send is: {"command":"get_lift_state"}



[20240712 10:27:49]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:49]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:49]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:49]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:49]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:49]: send is: {"command":"get_lift_state"}



[20240712 10:27:49]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:49]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:49]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:49]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:49]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:50]: send is: {"command":"get_lift_state"}



[20240712 10:27:50]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:50]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:50]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:50]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:50]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:50]: send is: {"command":"get_lift_state"}



[20240712 10:27:50]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:50]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:50]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:50]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:50]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:51]: send is: {"command":"get_lift_state"}



[20240712 10:27:51]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:51]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:51]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:51]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:51]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:51]: send is: {"command":"get_lift_state"}



[20240712 10:27:51]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:51]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:51]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:51]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:51]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:52]: send is: {"command":"get_lift_state"}



[20240712 10:27:52]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:52]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:52]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:52]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:52]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:52]: send is: {"command":"get_lift_state"}



[20240712 10:27:52]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:52]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:52]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:52]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:52]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:53]: send is: {"command":"get_lift_state"}



[20240712 10:27:53]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:53]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:53]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:53]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:53]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:53]: send is: {"command":"get_lift_state"}



[20240712 10:27:53]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:53]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:53]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:53]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:53]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:54]: send is: {"command":"get_lift_state"}



[20240712 10:27:54]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:54]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:54]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:54]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:54]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:55]: send is: {"command":"get_lift_state"}



[20240712 10:27:55]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:55]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:55]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:55]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:55]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:55]: send is: {"command":"get_lift_state"}



[20240712 10:27:55]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:55]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:55]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:55]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:55]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:56]: send is: {"command":"get_lift_state"}



[20240712 10:27:56]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:56]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:56]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:56]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:56]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:56]: send is: {"command":"get_lift_state"}



[20240712 10:27:56]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:56]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:56]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:56]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:56]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:57]: send is: {"command":"get_lift_state"}



[20240712 10:27:57]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:57]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:57]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:57]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:57]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:57]: send is: {"command":"get_lift_state"}



[20240712 10:27:57]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:57]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:57]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:57]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:57]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:58]: send is: {"command":"get_lift_state"}



[20240712 10:27:58]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:58]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:58]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:58]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:58]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:58]: send is: {"command":"get_lift_state"}



[20240712 10:27:58]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:58]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:58]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:58]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:58]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:59]: send is: {"command":"get_lift_state"}



[20240712 10:27:59]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:59]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:59]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:59]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:59]: [rm_get_lift_state] mode parse result: 2

[20240712 10:27:59]: send is: {"command":"get_lift_state"}



[20240712 10:27:59]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:27:59]: [rm_get_lift_state] height parse result: 0

[20240712 10:27:59]: [rm_get_lift_state] current parse result: 0

[20240712 10:27:59]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:27:59]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:00]: send is: {"command":"get_lift_state"}



[20240712 10:28:00]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:00]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:00]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:00]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:00]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:00]: send is: {"command":"get_lift_state"}



[20240712 10:28:01]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:01]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:01]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:01]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:01]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:01]: send is: {"command":"get_lift_state"}



[20240712 10:28:01]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:01]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:01]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:01]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:01]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:02]: send is: {"command":"get_lift_state"}



[20240712 10:28:02]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:02]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:02]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:02]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:02]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:02]: send is: {"command":"get_lift_state"}



[20240712 10:28:02]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:02]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:02]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:02]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:02]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:03]: send is: {"command":"get_lift_state"}



[20240712 10:28:03]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:03]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:03]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:03]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:03]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:03]: send is: {"command":"get_lift_state"}



[20240712 10:28:03]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:03]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:03]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:03]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:03]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:04]: send is: {"command":"get_lift_state"}



[20240712 10:28:04]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:04]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:04]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:04]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:04]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:04]: send is: {"command":"get_lift_state"}



[20240712 10:28:04]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:04]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:04]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:04]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:04]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:05]: send is: {"command":"get_lift_state"}



[20240712 10:28:05]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:05]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:05]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:05]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:05]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:05]: send is: {"command":"get_lift_state"}



[20240712 10:28:05]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:05]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:05]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:05]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:05]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:06]: send is: {"command":"get_lift_state"}



[20240712 10:28:06]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:06]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:06]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:06]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:06]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:06]: send is: {"command":"get_lift_state"}



[20240712 10:28:06]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:06]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:06]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:06]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:06]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:07]: send is: {"command":"get_lift_state"}



[20240712 10:28:07]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:07]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:07]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:07]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:07]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:08]: send is: {"command":"get_lift_state"}



[20240712 10:28:08]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:08]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:08]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:08]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:08]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:08]: send is: {"command":"get_lift_state"}



[20240712 10:28:08]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:08]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:08]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:08]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:08]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:09]: send is: {"command":"get_lift_state"}



[20240712 10:28:09]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:09]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:09]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:09]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:09]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:09]: send is: {"command":"get_lift_state"}



[20240712 10:28:09]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:09]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:09]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:09]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:09]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:10]: send is: {"command":"get_lift_state"}



[20240712 10:28:10]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:10]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:10]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:10]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:10]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:10]: send is: {"command":"get_lift_state"}



[20240712 10:28:10]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:10]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:10]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:10]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:10]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:11]: send is: {"command":"get_lift_state"}



[20240712 10:28:11]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:11]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:11]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:11]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:11]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:11]: send is: {"command":"get_lift_state"}



[20240712 10:28:11]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:11]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:11]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:11]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:11]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:12]: send is: {"command":"get_lift_state"}



[20240712 10:28:12]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:12]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:12]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:12]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:12]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:12]: send is: {"command":"get_lift_state"}



[20240712 10:28:12]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:12]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:12]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:12]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:12]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:13]: send is: {"command":"get_lift_state"}



[20240712 10:28:13]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:13]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:13]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:13]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:13]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:13]: send is: {"command":"get_lift_state"}



[20240712 10:28:13]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:13]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:13]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:13]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:13]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:14]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 10:28:14]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 10:28:14]: send is: {"command":"get_lift_state"}



[20240712 10:28:14]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:14]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:14]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:14]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:14]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:15]: send is: {"command":"get_lift_state"}



[20240712 10:28:15]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:15]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:15]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:15]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:15]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:15]: send is: {"command":"get_lift_state"}



[20240712 10:28:15]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:15]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:15]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:15]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:15]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:16]: send is: {"command":"get_lift_state"}



[20240712 10:28:16]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:16]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:16]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:16]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:16]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:17]: send is: {"command":"get_lift_state"}



[20240712 10:28:17]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:17]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:17]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:17]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:17]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:17]: send is: {"command":"get_lift_state"}



[20240712 10:28:17]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:17]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:17]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:17]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:17]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:18]: send is: {"command":"get_lift_state"}



[20240712 10:28:18]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:18]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:18]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:18]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:18]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:18]: send is: {"command":"get_lift_state"}



[20240712 10:28:18]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:18]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:18]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:18]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:18]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:19]: send is: {"command":"get_lift_state"}



[20240712 10:28:19]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:19]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:19]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:19]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:19]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:19]: send is: {"command":"get_lift_state"}



[20240712 10:28:19]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:19]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:19]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:19]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:19]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:20]: send is: {"command":"get_lift_state"}



[20240712 10:28:20]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:20]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:20]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:20]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:20]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:20]: send is: {"command":"get_lift_state"}



[20240712 10:28:20]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:20]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:20]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:20]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:20]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:21]: send is: {"command":"get_lift_state"}



[20240712 10:28:21]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:21]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:21]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:21]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:21]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:21]: send is: {"command":"get_lift_state"}



[20240712 10:28:21]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:21]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:21]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:21]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:21]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:22]: send is: {"command":"get_lift_state"}



[20240712 10:28:22]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:22]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:22]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:22]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:22]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:22]: send is: {"command":"get_lift_state"}



[20240712 10:28:22]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:22]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:22]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:22]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:22]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:23]: send is: {"command":"get_lift_state"}



[20240712 10:28:23]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:23]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:23]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:23]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:23]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:24]: send is: {"command":"get_lift_state"}



[20240712 10:28:24]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:24]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:24]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:24]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:24]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:24]: send is: {"command":"get_lift_state"}



[20240712 10:28:24]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:24]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:24]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:24]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:24]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:25]: send is: {"command":"get_lift_state"}



[20240712 10:28:25]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:25]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:25]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:25]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:25]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:25]: send is: {"command":"get_lift_state"}



[20240712 10:28:25]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:25]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:25]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:25]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:25]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:26]: send is: {"command":"get_lift_state"}



[20240712 10:28:26]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:26]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:26]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:26]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:26]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:26]: send is: {"command":"get_lift_state"}



[20240712 10:28:26]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:26]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:26]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:26]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:26]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:27]: send is: {"command":"get_lift_state"}



[20240712 10:28:27]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:27]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:27]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:27]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:27]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:27]: send is: {"command":"get_lift_state"}



[20240712 10:28:27]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:27]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:27]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:27]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:27]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:28]: send is: {"command":"get_lift_state"}



[20240712 10:28:28]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:28]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:28]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:28]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:28]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:28]: send is: {"command":"get_lift_state"}



[20240712 10:28:28]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:28]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:28]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:28]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:28]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:29]: send is: {"command":"get_lift_state"}



[20240712 10:28:29]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:29]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:29]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:29]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:29]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:29]: send is: {"command":"get_lift_state"}



[20240712 10:28:29]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:29]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:29]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:29]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:29]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:30]: send is: {"command":"get_lift_state"}



[20240712 10:28:30]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:30]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:30]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:30]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:30]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:31]: send is: {"command":"get_lift_state"}



[20240712 10:28:31]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:31]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:31]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:31]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:31]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:31]: send is: {"command":"get_lift_state"}



[20240712 10:28:31]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:31]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:31]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:31]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:31]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:32]: send is: {"command":"get_lift_state"}



[20240712 10:28:32]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:32]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:32]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:32]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:32]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:32]: send is: {"command":"get_lift_state"}



[20240712 10:28:32]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:32]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:32]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:32]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:32]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:33]: send is: {"command":"get_lift_state"}



[20240712 10:28:33]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:33]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:33]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:33]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:33]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:33]: send is: {"command":"get_lift_state"}



[20240712 10:28:33]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:33]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:33]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:33]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:33]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:34]: send is: {"command":"get_lift_state"}



[20240712 10:28:34]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:34]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:34]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:34]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:34]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:34]: send is: {"command":"get_lift_state"}



[20240712 10:28:34]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:34]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:34]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:34]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:34]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:35]: send is: {"command":"get_lift_state"}



[20240712 10:28:35]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:35]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:35]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:35]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:35]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:35]: send is: {"command":"get_lift_state"}



[20240712 10:28:35]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:35]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:35]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:35]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:35]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:36]: send is: {"command":"get_lift_state"}



[20240712 10:28:36]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:36]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:36]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:36]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:36]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:37]: send is: {"command":"get_lift_state"}



[20240712 10:28:37]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:37]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:37]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:37]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:37]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:37]: send is: {"command":"get_lift_state"}



[20240712 10:28:37]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:37]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:37]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:37]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:37]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:38]: send is: {"command":"get_lift_state"}



[20240712 10:28:38]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:38]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:38]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:38]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:38]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:38]: send is: {"command":"get_lift_state"}



[20240712 10:28:38]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:38]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:38]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:38]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:38]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:39]: send is: {"command":"get_lift_state"}



[20240712 10:28:39]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:39]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:39]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:39]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:39]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:39]: send is: {"command":"get_lift_state"}



[20240712 10:28:39]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:39]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:39]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:39]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:39]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:40]: send is: {"command":"get_lift_state"}



[20240712 10:28:40]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:40]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:40]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:40]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:40]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:40]: send is: {"command":"get_lift_state"}



[20240712 10:28:40]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:40]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:40]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:40]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:40]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:41]: send is: {"command":"get_lift_state"}



[20240712 10:28:41]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:41]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:41]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:41]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:41]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:41]: send is: {"command":"get_lift_state"}



[20240712 10:28:41]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:41]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:41]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:41]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:41]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:42]: send is: {"command":"get_lift_state"}



[20240712 10:28:42]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:42]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:42]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:42]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:42]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:42]: send is: {"command":"get_lift_state"}



[20240712 10:28:42]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:42]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:42]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:42]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:42]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:43]: send is: {"command":"get_lift_state"}



[20240712 10:28:43]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:43]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:43]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:43]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:43]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:44]: send is: {"command":"get_lift_state"}



[20240712 10:28:44]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:44]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:44]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:44]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:44]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:44]: send is: {"command":"get_lift_state"}



[20240712 10:28:44]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:44]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:44]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:44]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:44]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:45]: send is: {"command":"get_lift_state"}



[20240712 10:28:45]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:45]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:45]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:45]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:45]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:45]: send is: {"command":"get_lift_state"}



[20240712 10:28:45]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:45]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:45]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:45]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:45]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:46]: send is: {"command":"get_lift_state"}



[20240712 10:28:46]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:46]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:46]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:46]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:46]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:46]: send is: {"command":"get_lift_state"}



[20240712 10:28:46]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:46]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:46]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:46]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:46]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:47]: send is: {"command":"get_lift_state"}



[20240712 10:28:47]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:47]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:47]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:47]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:47]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:47]: send is: {"command":"get_lift_state"}



[20240712 10:28:47]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:47]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:47]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:47]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:47]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:48]: send is: {"command":"get_lift_state"}



[20240712 10:28:48]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:48]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:48]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:48]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:48]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:48]: send is: {"command":"get_lift_state"}



[20240712 10:28:48]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:48]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:48]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:48]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:48]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:49]: send is: {"command":"get_lift_state"}



[20240712 10:28:49]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:49]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:49]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:49]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:49]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:49]: send is: {"command":"get_lift_state"}



[20240712 10:28:49]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:49]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:49]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:49]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:49]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:50]: send is: {"command":"get_lift_state"}



[20240712 10:28:50]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:50]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:50]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:50]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:50]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:51]: send is: {"command":"get_lift_state"}



[20240712 10:28:51]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:51]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:51]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:51]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:51]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:51]: send is: {"command":"get_lift_state"}



[20240712 10:28:51]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:51]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:51]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:51]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:51]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:52]: send is: {"command":"get_lift_state"}



[20240712 10:28:52]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:52]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:52]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:52]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:52]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:52]: send is: {"command":"get_lift_state"}



[20240712 10:28:52]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:52]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:52]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:52]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:52]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:53]: send is: {"command":"get_lift_state"}



[20240712 10:28:53]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:53]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:53]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:53]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:53]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:53]: send is: {"command":"get_lift_state"}



[20240712 10:28:53]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:53]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:53]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:53]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:53]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:54]: send is: {"command":"get_lift_state"}



[20240712 10:28:54]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:54]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:54]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:54]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:54]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:54]: send is: {"command":"get_lift_state"}



[20240712 10:28:54]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:54]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:54]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:54]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:54]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:55]: send is: {"command":"get_lift_state"}



[20240712 10:28:55]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:55]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:55]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:55]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:55]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:55]: send is: {"command":"get_lift_state"}



[20240712 10:28:55]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:55]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:55]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:55]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:55]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:56]: send is: {"command":"get_lift_state"}



[20240712 10:28:56]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:56]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:56]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:56]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:56]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:57]: send is: {"command":"get_lift_state"}



[20240712 10:28:57]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:57]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:57]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:57]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:57]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:57]: send is: {"command":"get_lift_state"}



[20240712 10:28:57]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:57]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:57]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:57]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:57]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:58]: send is: {"command":"get_lift_state"}



[20240712 10:28:58]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:58]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:58]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:58]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:58]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:58]: send is: {"command":"get_lift_state"}



[20240712 10:28:58]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:58]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:58]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:58]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:58]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:59]: send is: {"command":"get_lift_state"}



[20240712 10:28:59]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:59]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:59]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:59]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:59]: [rm_get_lift_state] mode parse result: 2

[20240712 10:28:59]: send is: {"command":"get_lift_state"}



[20240712 10:28:59]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:28:59]: [rm_get_lift_state] height parse result: 0

[20240712 10:28:59]: [rm_get_lift_state] current parse result: 0

[20240712 10:28:59]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:28:59]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:00]: send is: {"command":"get_lift_state"}



[20240712 10:29:00]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:00]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:00]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:00]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:00]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:00]: send is: {"command":"get_lift_state"}



[20240712 10:29:00]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:00]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:00]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:00]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:00]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:01]: send is: {"command":"get_lift_state"}



[20240712 10:29:01]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:01]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:01]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:01]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:01]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:01]: send is: {"command":"get_lift_state"}



[20240712 10:29:01]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:01]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:01]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:01]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:01]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:02]: send is: {"command":"get_lift_state"}



[20240712 10:29:02]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:02]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:02]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:02]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:02]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:02]: send is: {"command":"get_lift_state"}



[20240712 10:29:02]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:02]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:02]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:02]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:02]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:03]: send is: {"command":"get_lift_state"}



[20240712 10:29:03]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:03]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:03]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:03]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:03]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:04]: send is: {"command":"get_lift_state"}



[20240712 10:29:04]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:04]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:04]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:04]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:04]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:04]: send is: {"command":"get_lift_state"}



[20240712 10:29:04]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:04]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:04]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:04]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:04]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:05]: send is: {"command":"get_lift_state"}



[20240712 10:29:05]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:05]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:05]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:05]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:05]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:05]: send is: {"command":"get_lift_state"}



[20240712 10:29:05]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:05]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:05]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:05]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:05]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:06]: send is: {"command":"get_lift_state"}



[20240712 10:29:06]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:06]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:06]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:06]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:06]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:06]: send is: {"command":"get_lift_state"}



[20240712 10:29:06]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:06]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:06]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:06]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:06]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:07]: send is: {"command":"get_lift_state"}



[20240712 10:29:07]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:07]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:07]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:07]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:07]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:07]: send is: {"command":"get_lift_state"}



[20240712 10:29:07]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:07]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:07]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:07]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:07]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:08]: send is: {"command":"get_lift_state"}



[20240712 10:29:08]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:08]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:08]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:08]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:08]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:08]: send is: {"command":"get_lift_state"}



[20240712 10:29:08]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:08]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:08]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:08]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:08]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:09]: send is: {"command":"get_lift_state"}



[20240712 10:29:09]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:09]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:09]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:09]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:09]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:09]: send is: {"command":"get_lift_state"}



[20240712 10:29:09]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:09]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:09]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:09]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:09]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:10]: send is: {"command":"get_lift_state"}



[20240712 10:29:10]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:10]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:10]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:10]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:10]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:11]: send is: {"command":"get_lift_state"}



[20240712 10:29:11]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:11]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:11]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:11]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:11]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:11]: send is: {"command":"get_lift_state"}



[20240712 10:29:11]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:11]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:11]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:11]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:11]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:12]: send is: {"command":"get_lift_state"}



[20240712 10:29:12]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:12]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:12]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:12]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:12]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:12]: send is: {"command":"get_lift_state"}



[20240712 10:29:12]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:12]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:12]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:12]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:12]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:13]: send is: {"command":"get_lift_state"}



[20240712 10:29:13]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:13]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:13]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:13]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:13]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:13]: send is: {"command":"get_lift_state"}



[20240712 10:29:13]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:13]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:13]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:13]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:13]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:14]: send is: {"command":"get_lift_state"}



[20240712 10:29:14]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:14]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:14]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:14]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:14]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:14]: send is: {"command":"get_lift_state"}



[20240712 10:29:14]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:14]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:14]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:14]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:14]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:15]: send is: {"command":"get_lift_state"}



[20240712 10:29:15]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:15]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:15]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:15]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:15]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:15]: send is: {"command":"get_lift_state"}



[20240712 10:29:15]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:15]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:15]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:15]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:15]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:16]: send is: {"command":"get_lift_state"}



[20240712 10:29:16]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:16]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:16]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:16]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:16]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:16]: send is: {"command":"get_lift_state"}



[20240712 10:29:16]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:16]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:16]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:16]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:16]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:17]: send is: {"command":"get_lift_state"}



[20240712 10:29:17]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:17]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:17]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:17]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:17]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:18]: send is: {"command":"get_lift_state"}



[20240712 10:29:18]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:18]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:18]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:18]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:18]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:18]: send is: {"command":"get_lift_state"}



[20240712 10:29:18]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:18]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:18]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:18]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:18]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:19]: send is: {"command":"get_lift_state"}



[20240712 10:29:19]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:19]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:19]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:19]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:19]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:19]: send is: {"command":"get_lift_state"}



[20240712 10:29:19]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:19]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:19]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:19]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:19]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:20]: send is: {"command":"get_lift_state"}



[20240712 10:29:20]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:20]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:20]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:20]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:20]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:20]: send is: {"command":"get_lift_state"}



[20240712 10:29:20]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:20]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:20]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:20]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:20]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:21]: send is: {"command":"get_lift_state"}



[20240712 10:29:21]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:21]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:21]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:21]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:21]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:21]: send is: {"command":"get_lift_state"}



[20240712 10:29:21]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:21]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:21]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:21]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:21]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:22]: send is: {"command":"get_lift_state"}



[20240712 10:29:22]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:22]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:22]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:22]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:22]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:22]: send is: {"command":"get_lift_state"}



[20240712 10:29:22]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:22]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:22]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:22]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:22]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:25]: send is: {"command":"get_lift_state"}



[20240712 10:29:25]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:25]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:25]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:25]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:25]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:27]: send is: {"command":"get_lift_state"}



[20240712 10:29:27]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:27]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:27]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:27]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:27]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:30]: send is: {"command":"get_lift_state"}



[20240712 10:29:30]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:30]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:30]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:30]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:30]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:31]: send is: {"command":"get_lift_state"}



[20240712 10:29:31]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:31]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:31]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:31]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:31]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:32]: send is: {"command":"get_lift_state"}



[20240712 10:29:32]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:32]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:32]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:32]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:32]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:32]: send is: {"command":"get_lift_state"}



[20240712 10:29:32]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:32]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:32]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:32]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:32]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:33]: send is: {"command":"get_lift_state"}



[20240712 10:29:33]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:33]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:33]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:33]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:33]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:33]: send is: {"command":"get_lift_state"}



[20240712 10:29:33]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:33]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:33]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:33]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:33]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:34]: send is: {"command":"get_lift_state"}



[20240712 10:29:34]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:34]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:34]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:34]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:34]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:34]: send is: {"command":"get_lift_state"}



[20240712 10:29:34]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:34]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:34]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:34]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:34]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:35]: send is: {"command":"get_lift_state"}



[20240712 10:29:35]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:35]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:35]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:35]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:35]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:36]: send is: {"command":"get_lift_state"}



[20240712 10:29:36]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:36]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:36]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:36]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:36]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:36]: send is: {"command":"get_lift_state"}



[20240712 10:29:36]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:36]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:36]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:36]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:36]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:37]: send is: {"command":"get_lift_state"}



[20240712 10:29:37]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:37]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:37]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:37]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:37]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:37]: send is: {"command":"get_lift_state"}



[20240712 10:29:37]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:37]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:37]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:37]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:37]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:38]: send is: {"command":"get_lift_state"}



[20240712 10:29:38]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:38]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:38]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:38]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:38]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:38]: send is: {"command":"get_lift_state"}



[20240712 10:29:38]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:38]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:38]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:38]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:38]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:39]: send is: {"command":"get_lift_state"}



[20240712 10:29:39]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:39]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:39]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:39]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:39]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:39]: send is: {"command":"get_lift_state"}



[20240712 10:29:39]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:39]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:39]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:39]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:39]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:40]: send is: {"command":"get_lift_state"}



[20240712 10:29:40]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:40]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:40]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:40]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:40]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:40]: send is: {"command":"get_lift_state"}



[20240712 10:29:40]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:40]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:40]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:40]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:40]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:41]: send is: {"command":"get_lift_state"}



[20240712 10:29:41]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:41]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:41]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:41]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:41]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:41]: send is: {"command":"get_lift_state"}



[20240712 10:29:41]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:41]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:41]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:41]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:41]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:42]: send is: {"command":"get_lift_state"}



[20240712 10:29:42]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:42]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:42]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:42]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:42]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:43]: send is: {"command":"get_lift_state"}



[20240712 10:29:43]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:43]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:43]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:43]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:43]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:43]: send is: {"command":"get_lift_state"}



[20240712 10:29:43]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:43]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:43]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:43]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:43]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:44]: send is: {"command":"get_lift_state"}



[20240712 10:29:44]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:44]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:44]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:44]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:44]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:44]: send is: {"command":"get_lift_state"}



[20240712 10:29:44]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:44]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:44]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:44]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:44]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:45]: send is: {"command":"get_lift_state"}



[20240712 10:29:45]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:45]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:45]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:45]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:45]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:45]: send is: {"command":"get_lift_state"}



[20240712 10:29:45]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:45]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:45]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:45]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:45]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:46]: send is: {"command":"get_lift_state"}



[20240712 10:29:46]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:46]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:46]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:46]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:46]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:46]: send is: {"command":"get_lift_state"}



[20240712 10:29:46]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:46]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:46]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:46]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:46]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:47]: send is: {"command":"get_lift_state"}



[20240712 10:29:47]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:47]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:47]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:47]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:47]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:47]: send is: {"command":"get_lift_state"}



[20240712 10:29:47]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:47]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:47]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:47]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:47]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:48]: send is: {"command":"get_lift_state"}



[20240712 10:29:48]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:48]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:48]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:48]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:48]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:48]: send is: {"command":"get_lift_state"}



[20240712 10:29:48]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:48]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:48]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:48]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:48]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:49]: send is: {"command":"get_lift_state"}



[20240712 10:29:49]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:49]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:49]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:49]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:49]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:50]: send is: {"command":"get_lift_state"}



[20240712 10:29:50]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:50]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:50]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:50]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:50]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:50]: send is: {"command":"get_lift_state"}



[20240712 10:29:50]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:50]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:50]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:50]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:50]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:51]: send is: {"command":"get_lift_state"}



[20240712 10:29:51]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:51]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:51]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:51]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:51]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:51]: send is: {"command":"get_lift_state"}



[20240712 10:29:51]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:51]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:51]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:51]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:51]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:52]: send is: {"command":"get_lift_state"}



[20240712 10:29:52]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:52]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:52]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:52]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:52]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:52]: send is: {"command":"get_lift_state"}



[20240712 10:29:52]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:52]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:52]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:52]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:52]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:53]: send is: {"command":"get_lift_state"}



[20240712 10:29:53]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:53]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:53]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:53]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:53]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:53]: send is: {"command":"get_lift_state"}



[20240712 10:29:53]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:53]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:53]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:53]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:53]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:54]: send is: {"command":"get_lift_state"}



[20240712 10:29:54]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:54]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:54]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:54]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:54]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:54]: send is: {"command":"get_lift_state"}



[20240712 10:29:54]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:54]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:54]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:54]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:54]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:55]: send is: {"command":"get_lift_state"}



[20240712 10:29:55]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:55]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:55]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:55]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:55]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:55]: send is: {"command":"get_lift_state"}



[20240712 10:29:55]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:55]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:55]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:55]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:55]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:56]: send is: {"command":"get_lift_state"}



[20240712 10:29:56]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:56]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:56]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:56]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:56]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:57]: send is: {"command":"get_lift_state"}



[20240712 10:29:57]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:57]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:57]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:57]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:57]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:57]: send is: {"command":"get_lift_state"}



[20240712 10:29:57]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:57]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:57]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:57]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:57]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:58]: send is: {"command":"get_lift_state"}



[20240712 10:29:58]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:58]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:58]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:58]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:58]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:58]: send is: {"command":"get_lift_state"}



[20240712 10:29:58]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:58]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:58]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:58]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:58]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:59]: send is: {"command":"get_lift_state"}



[20240712 10:29:59]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:59]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:59]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:59]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:59]: [rm_get_lift_state] mode parse result: 2

[20240712 10:29:59]: send is: {"command":"get_lift_state"}



[20240712 10:29:59]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:29:59]: [rm_get_lift_state] height parse result: 0

[20240712 10:29:59]: [rm_get_lift_state] current parse result: 0

[20240712 10:29:59]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:29:59]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:00]: send is: {"command":"get_lift_state"}



[20240712 10:30:00]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:00]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:00]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:00]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:00]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:00]: send is: {"command":"get_lift_state"}



[20240712 10:30:00]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:00]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:00]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:00]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:00]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:01]: send is: {"command":"get_lift_state"}



[20240712 10:30:01]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:01]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:01]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:01]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:01]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:01]: send is: {"command":"get_lift_state"}



[20240712 10:30:01]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:01]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:01]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:01]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:01]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:02]: send is: {"command":"get_lift_state"}



[20240712 10:30:02]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:02]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:02]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:02]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:02]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:02]: send is: {"command":"get_lift_state"}



[20240712 10:30:02]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:02]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:02]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:02]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:02]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:03]: send is: {"command":"get_lift_state"}



[20240712 10:30:03]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:03]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:03]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:03]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:03]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:04]: send is: {"command":"get_lift_state"}



[20240712 10:30:04]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:04]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:04]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:04]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:04]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:04]: send is: {"command":"get_lift_state"}



[20240712 10:30:04]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:04]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:04]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:04]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:04]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:05]: send is: {"command":"get_lift_state"}



[20240712 10:30:05]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:05]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:05]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:05]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:05]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:05]: send is: {"command":"get_lift_state"}



[20240712 10:30:05]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:05]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:05]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:05]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:05]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:06]: send is: {"command":"get_lift_state"}



[20240712 10:30:06]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:06]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:06]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:06]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:06]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:06]: send is: {"command":"get_lift_state"}



[20240712 10:30:06]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:06]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:06]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:06]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:06]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:07]: send is: {"command":"get_lift_state"}



[20240712 10:30:07]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:07]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:07]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:07]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:07]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:07]: send is: {"command":"get_lift_state"}



[20240712 10:30:07]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:07]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:07]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:07]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:07]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:08]: send is: {"command":"get_lift_state"}



[20240712 10:30:08]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:08]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:08]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:08]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:08]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:08]: send is: {"command":"get_lift_state"}



[20240712 10:30:08]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:08]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:08]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:08]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:08]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:09]: send is: {"command":"get_lift_state"}



[20240712 10:30:09]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:09]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:09]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:09]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:09]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:09]: send is: {"command":"get_lift_state"}



[20240712 10:30:09]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:09]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:09]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:09]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:09]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:10]: send is: {"command":"get_lift_state"}



[20240712 10:30:10]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:10]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:10]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:10]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:10]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:11]: send is: {"command":"get_lift_state"}



[20240712 10:30:11]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:11]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:11]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:11]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:11]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:11]: send is: {"command":"get_lift_state"}



[20240712 10:30:11]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:11]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:11]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:11]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:11]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:12]: send is: {"command":"get_lift_state"}



[20240712 10:30:12]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:12]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:12]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:12]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:12]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:12]: send is: {"command":"get_lift_state"}



[20240712 10:30:12]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:12]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:12]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:12]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:12]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:13]: send is: {"command":"get_lift_state"}



[20240712 10:30:13]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:13]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:13]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:13]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:13]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:13]: send is: {"command":"get_lift_state"}



[20240712 10:30:13]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:13]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:13]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:13]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:13]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:14]: send is: {"command":"get_lift_state"}



[20240712 10:30:14]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:14]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:14]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:14]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:14]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:14]: send is: {"command":"get_lift_state"}



[20240712 10:30:14]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:14]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:14]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:14]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:14]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:15]: send is: {"command":"get_lift_state"}



[20240712 10:30:15]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:15]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:15]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:15]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:15]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:15]: send is: {"command":"get_lift_state"}



[20240712 10:30:15]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:15]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:15]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:15]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:15]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:16]: send is: {"command":"get_lift_state"}



[20240712 10:30:16]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:16]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:16]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:16]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:16]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:16]: send is: {"command":"get_lift_state"}



[20240712 10:30:16]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:16]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:16]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:16]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:16]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:17]: send is: {"command":"get_lift_state"}



[20240712 10:30:17]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:17]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:17]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:17]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:17]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:18]: send is: {"command":"get_lift_state"}



[20240712 10:30:18]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:18]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:18]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:18]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:18]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:18]: send is: {"command":"get_lift_state"}



[20240712 10:30:18]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:18]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:18]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:18]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:18]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:19]: send is: {"command":"get_lift_state"}



[20240712 10:30:19]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:19]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:19]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:19]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:19]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:19]: send is: {"command":"get_lift_state"}



[20240712 10:30:19]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:19]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:19]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:19]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:19]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:20]: send is: {"command":"get_lift_state"}



[20240712 10:30:20]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:20]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:20]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:20]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:20]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:20]: send is: {"command":"get_lift_state"}



[20240712 10:30:20]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:20]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:20]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:20]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:20]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:21]: send is: {"command":"get_lift_state"}



[20240712 10:30:21]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:21]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:21]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:21]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:21]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:21]: send is: {"command":"get_lift_state"}



[20240712 10:30:21]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:21]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:21]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:21]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:21]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:22]: send is: {"command":"get_lift_state"}



[20240712 10:30:22]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:22]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:22]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:22]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:22]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:22]: send is: {"command":"get_lift_state"}



[20240712 10:30:22]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:22]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:22]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:22]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:22]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:25]: send is: {"command":"get_lift_state"}



[20240712 10:30:25]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:25]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:25]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:25]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:25]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:27]: send is: {"command":"get_lift_state"}



[20240712 10:30:27]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:27]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:27]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:27]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:27]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:29]: send is: {"command":"get_lift_state"}



[20240712 10:30:29]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:30]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:30]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:30]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:30]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:32]: send is: {"command":"get_lift_state"}



[20240712 10:30:32]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:32]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:32]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:32]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:32]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:34]: send is: {"command":"get_lift_state"}



[20240712 10:30:34]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:34]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:34]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:34]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:34]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:36]: send is: {"command":"get_lift_state"}



[20240712 10:30:36]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:36]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:36]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:36]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:36]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:37]: send is: {"command":"get_lift_state"}



[20240712 10:30:37]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:37]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:37]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:37]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:37]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:37]: send is: {"command":"get_lift_state"}



[20240712 10:30:37]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:37]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:37]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:37]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:37]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:38]: send is: {"command":"get_lift_state"}



[20240712 10:30:38]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:38]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:38]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:38]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:38]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:39]: send is: {"command":"get_lift_state"}



[20240712 10:30:39]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:39]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:39]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:39]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:39]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:39]: send is: {"command":"get_lift_state"}



[20240712 10:30:39]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:39]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:39]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:39]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:39]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:40]: send is: {"command":"get_lift_state"}



[20240712 10:30:40]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:40]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:40]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:40]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:40]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:40]: send is: {"command":"get_lift_state"}



[20240712 10:30:40]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:40]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:40]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:40]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:40]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:41]: send is: {"command":"get_lift_state"}



[20240712 10:30:41]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:41]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:41]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:41]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:41]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:41]: send is: {"command":"get_lift_state"}



[20240712 10:30:41]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:41]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:41]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:41]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:41]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:42]: send is: {"command":"get_lift_state"}



[20240712 10:30:42]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:42]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:42]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:42]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:42]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:42]: send is: {"command":"get_lift_state"}



[20240712 10:30:42]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:42]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:42]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:42]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:42]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:43]: send is: {"command":"get_lift_state"}



[20240712 10:30:43]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:43]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:43]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:43]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:43]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:43]: send is: {"command":"get_lift_state"}



[20240712 10:30:43]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:43]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:43]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:43]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:43]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:44]: send is: {"command":"get_lift_state"}



[20240712 10:30:44]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:44]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:44]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:44]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:44]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:44]: send is: {"command":"get_lift_state"}



[20240712 10:30:44]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:44]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:44]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:44]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:44]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:45]: send is: {"command":"get_lift_state"}



[20240712 10:30:45]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:45]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:45]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:45]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:45]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:46]: send is: {"command":"get_lift_state"}



[20240712 10:30:46]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:46]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:46]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:46]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:46]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:46]: send is: {"command":"get_lift_state"}



[20240712 10:30:46]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:46]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:46]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:46]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:46]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:47]: send is: {"command":"get_lift_state"}



[20240712 10:30:47]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:47]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:47]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:47]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:47]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:49]: send is: {"command":"get_lift_state"}



[20240712 10:30:49]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:49]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:49]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:49]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:49]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:51]: send is: {"command":"get_lift_state"}



[20240712 10:30:51]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:52]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:52]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:52]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:52]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:54]: send is: {"command":"get_lift_state"}



[20240712 10:30:54]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:54]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:54]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:54]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:54]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:56]: send is: {"command":"get_lift_state"}



[20240712 10:30:56]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:56]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:56]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:56]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:56]: [rm_get_lift_state] mode parse result: 2

[20240712 10:30:59]: send is: {"command":"get_lift_state"}



[20240712 10:30:59]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:30:59]: [rm_get_lift_state] height parse result: 0

[20240712 10:30:59]: [rm_get_lift_state] current parse result: 0

[20240712 10:30:59]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:30:59]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:01]: send is: {"command":"get_lift_state"}



[20240712 10:31:01]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:01]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:01]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:01]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:01]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:04]: send is: {"command":"get_lift_state"}



[20240712 10:31:04]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:04]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:04]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:04]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:04]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:06]: send is: {"command":"get_lift_state"}



[20240712 10:31:06]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:06]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:06]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:06]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:06]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:09]: send is: {"command":"get_lift_state"}



[20240712 10:31:09]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:09]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:09]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:09]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:09]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:11]: send is: {"command":"get_lift_state"}



[20240712 10:31:11]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:11]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:11]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:11]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:11]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:14]: send is: {"command":"get_lift_state"}



[20240712 10:31:14]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:14]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:14]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:14]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:14]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:16]: send is: {"command":"get_lift_state"}



[20240712 10:31:16]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:16]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:16]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:16]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:16]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:17]: send is: {"command":"get_lift_state"}



[20240712 10:31:17]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:17]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:17]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:17]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:17]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:17]: send is: {"command":"get_lift_state"}



[20240712 10:31:17]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:17]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:17]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:17]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:17]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:18]: send is: {"command":"get_lift_state"}



[20240712 10:31:18]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:18]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:18]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:18]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:18]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:18]: send is: {"command":"get_lift_state"}



[20240712 10:31:18]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:18]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:18]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:18]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:18]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:19]: send is: {"command":"get_lift_state"}



[20240712 10:31:19]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:19]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:19]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:19]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:19]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:19]: send is: {"command":"get_lift_state"}



[20240712 10:31:19]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:19]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:19]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:19]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:19]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:20]: send is: {"command":"get_lift_state"}



[20240712 10:31:20]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:20]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:20]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:20]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:20]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:20]: send is: {"command":"get_lift_state"}



[20240712 10:31:20]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:20]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:20]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:20]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:20]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:21]: send is: {"command":"get_lift_state"}



[20240712 10:31:21]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:21]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:21]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:21]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:21]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:22]: send is: {"command":"get_lift_state"}



[20240712 10:31:22]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:22]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:22]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:22]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:22]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:22]: send is: {"command":"get_lift_state"}



[20240712 10:31:22]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:22]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:22]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:22]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:22]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:23]: send is: {"command":"get_lift_state"}



[20240712 10:31:23]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:23]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:23]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:23]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:23]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:23]: send is: {"command":"get_lift_state"}



[20240712 10:31:23]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:23]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:23]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:23]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:23]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:24]: send is: {"command":"get_lift_state"}



[20240712 10:31:24]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:24]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:24]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:24]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:24]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:24]: send is: {"command":"get_lift_state"}



[20240712 10:31:24]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:24]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:24]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:24]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:24]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:25]: send is: {"command":"get_lift_state"}



[20240712 10:31:25]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:25]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:25]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:25]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:25]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:25]: send is: {"command":"get_lift_state"}



[20240712 10:31:25]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:25]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:25]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:25]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:25]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:26]: send is: {"command":"get_lift_state"}



[20240712 10:31:26]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:26]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:26]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:26]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:26]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:26]: send is: {"command":"get_lift_state"}



[20240712 10:31:26]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:26]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:26]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:26]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:26]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:27]: send is: {"command":"get_lift_state"}



[20240712 10:31:27]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:27]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:27]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:27]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:27]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:27]: send is: {"command":"get_lift_state"}



[20240712 10:31:27]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:27]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:27]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:27]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:27]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:28]: send is: {"command":"get_lift_state"}



[20240712 10:31:28]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:28]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:28]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:28]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:28]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:29]: send is: {"command":"get_lift_state"}



[20240712 10:31:29]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:29]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:29]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:29]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:29]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:29]: send is: {"command":"get_lift_state"}



[20240712 10:31:29]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:29]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:29]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:29]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:29]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:30]: send is: {"command":"get_lift_state"}



[20240712 10:31:30]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:30]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:30]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:30]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:30]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:30]: send is: {"command":"get_lift_state"}



[20240712 10:31:30]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:30]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:30]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:30]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:30]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:31]: send is: {"command":"get_lift_state"}



[20240712 10:31:31]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:31]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:31]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:31]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:31]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:31]: send is: {"command":"get_lift_state"}



[20240712 10:31:31]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:31]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:31]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:31]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:31]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:32]: send is: {"command":"get_lift_state"}



[20240712 10:31:32]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:32]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:32]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:32]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:32]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:32]: send is: {"command":"get_lift_state"}



[20240712 10:31:32]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:32]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:32]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:32]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:32]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:33]: send is: {"command":"get_lift_state"}



[20240712 10:31:33]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:33]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:33]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:33]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:33]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:33]: send is: {"command":"get_lift_state"}



[20240712 10:31:33]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:33]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:33]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:33]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:33]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:34]: send is: {"command":"get_lift_state"}



[20240712 10:31:34]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:34]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:34]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:34]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:34]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:34]: send is: {"command":"get_lift_state"}



[20240712 10:31:34]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:34]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:34]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:34]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:34]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:35]: send is: {"command":"get_lift_state"}



[20240712 10:31:35]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:35]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:35]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:35]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:35]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:36]: send is: {"command":"get_lift_state"}



[20240712 10:31:36]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:36]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:36]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:36]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:36]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:36]: send is: {"command":"get_lift_state"}



[20240712 10:31:36]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:36]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:36]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:36]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:36]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:37]: send is: {"command":"get_lift_state"}



[20240712 10:31:37]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:37]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:37]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:37]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:37]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:37]: send is: {"command":"get_lift_state"}



[20240712 10:31:37]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:37]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:37]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:37]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:37]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:38]: send is: {"command":"get_lift_state"}



[20240712 10:31:38]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:38]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:38]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:38]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:38]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:38]: send is: {"command":"get_lift_state"}



[20240712 10:31:38]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:38]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:38]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:38]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:38]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:39]: send is: {"command":"get_lift_state"}



[20240712 10:31:39]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:39]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:39]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:39]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:39]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:39]: send is: {"command":"get_lift_state"}



[20240712 10:31:39]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:39]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:39]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:39]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:39]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:40]: send is: {"command":"get_lift_state"}



[20240712 10:31:40]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:40]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:40]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:40]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:40]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:40]: send is: {"command":"get_lift_state"}



[20240712 10:31:40]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:40]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:40]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:40]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:40]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:41]: send is: {"command":"get_lift_state"}



[20240712 10:31:41]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:41]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:41]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:41]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:41]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:41]: send is: {"command":"get_lift_state"}



[20240712 10:31:41]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:41]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:41]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:41]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:41]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:42]: send is: {"command":"get_lift_state"}



[20240712 10:31:42]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:42]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:42]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:42]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:42]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:43]: send is: {"command":"get_lift_state"}



[20240712 10:31:43]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:43]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:43]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:43]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:43]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:43]: send is: {"command":"get_lift_state"}



[20240712 10:31:43]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:43]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:43]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:43]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:43]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:44]: send is: {"command":"get_lift_state"}



[20240712 10:31:44]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:44]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:44]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:44]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:44]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:44]: send is: {"command":"get_lift_state"}



[20240712 10:31:44]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:44]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:44]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:44]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:44]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:45]: send is: {"command":"get_lift_state"}



[20240712 10:31:45]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:45]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:45]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:45]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:45]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:45]: send is: {"command":"get_lift_state"}



[20240712 10:31:45]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:45]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:45]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:45]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:45]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:46]: send is: {"command":"get_lift_state"}



[20240712 10:31:46]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:46]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:46]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:46]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:46]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:46]: send is: {"command":"get_lift_state"}



[20240712 10:31:46]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:46]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:46]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:46]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:46]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:47]: send is: {"command":"get_lift_state"}



[20240712 10:31:47]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:47]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:47]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:47]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:47]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:47]: send is: {"command":"get_lift_state"}



[20240712 10:31:47]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:47]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:47]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:47]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:47]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:48]: send is: {"command":"get_lift_state"}



[20240712 10:31:48]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:48]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:48]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:48]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:48]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:48]: send is: {"command":"get_lift_state"}



[20240712 10:31:48]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:48]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:48]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:48]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:48]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:49]: send is: {"command":"get_lift_state"}



[20240712 10:31:49]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:49]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:49]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:49]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:49]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:50]: send is: {"command":"get_lift_state"}



[20240712 10:31:50]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:50]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:50]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:50]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:50]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:50]: send is: {"command":"get_lift_state"}



[20240712 10:31:50]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:50]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:50]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:50]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:50]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:51]: send is: {"command":"get_lift_state"}



[20240712 10:31:51]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:51]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:51]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:51]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:51]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:51]: send is: {"command":"get_lift_state"}



[20240712 10:31:51]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:51]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:51]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:51]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:51]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:52]: send is: {"command":"get_lift_state"}



[20240712 10:31:52]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:52]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:52]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:52]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:52]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:52]: send is: {"command":"get_lift_state"}



[20240712 10:31:52]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:52]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:52]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:52]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:52]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:53]: send is: {"command":"get_lift_state"}



[20240712 10:31:53]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:53]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:53]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:53]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:53]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:53]: send is: {"command":"get_lift_state"}



[20240712 10:31:53]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:53]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:53]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:53]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:53]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:54]: send is: {"command":"get_lift_state"}



[20240712 10:31:54]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:54]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:54]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:54]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:54]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:54]: send is: {"command":"get_lift_state"}



[20240712 10:31:54]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:54]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:54]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:54]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:54]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:55]: send is: {"command":"get_lift_state"}



[20240712 10:31:55]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:55]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:55]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:55]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:55]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:55]: send is: {"command":"get_lift_state"}



[20240712 10:31:55]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:55]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:55]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:55]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:55]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:56]: send is: {"command":"get_lift_state"}



[20240712 10:31:56]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:56]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:56]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:56]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:56]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:57]: send is: {"command":"get_lift_state"}



[20240712 10:31:57]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:57]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:57]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:57]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:57]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:57]: send is: {"command":"get_lift_state"}



[20240712 10:31:57]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:57]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:57]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:57]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:57]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:58]: send is: {"command":"get_lift_state"}



[20240712 10:31:58]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:58]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:58]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:58]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:58]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:58]: send is: {"command":"get_lift_state"}



[20240712 10:31:58]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:58]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:58]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:58]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:58]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:59]: send is: {"command":"get_lift_state"}



[20240712 10:31:59]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:59]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:59]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:59]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:59]: [rm_get_lift_state] mode parse result: 2

[20240712 10:31:59]: send is: {"command":"get_lift_state"}



[20240712 10:31:59]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:31:59]: [rm_get_lift_state] height parse result: 0

[20240712 10:31:59]: [rm_get_lift_state] current parse result: 0

[20240712 10:31:59]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:31:59]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:00]: send is: {"command":"get_lift_state"}



[20240712 10:32:00]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:00]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:00]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:00]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:00]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:00]: send is: {"command":"get_lift_state"}



[20240712 10:32:00]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:00]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:00]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:00]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:00]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:01]: send is: {"command":"get_lift_state"}



[20240712 10:32:01]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:01]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:01]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:01]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:01]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:01]: send is: {"command":"get_lift_state"}



[20240712 10:32:01]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:01]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:01]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:01]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:01]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:02]: send is: {"command":"get_lift_state"}



[20240712 10:32:02]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:02]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:02]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:02]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:02]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:03]: send is: {"command":"get_lift_state"}



[20240712 10:32:03]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:03]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:03]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:03]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:03]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:03]: send is: {"command":"get_lift_state"}



[20240712 10:32:03]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:03]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:03]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:03]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:03]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:04]: send is: {"command":"get_lift_state"}



[20240712 10:32:04]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:04]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:04]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:04]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:04]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:04]: send is: {"command":"get_lift_state"}



[20240712 10:32:04]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:04]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:04]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:04]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:04]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:05]: send is: {"command":"get_lift_state"}



[20240712 10:32:05]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:05]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:05]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:05]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:05]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:05]: send is: {"command":"get_lift_state"}



[20240712 10:32:05]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:05]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:05]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:05]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:05]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:06]: send is: {"command":"get_lift_state"}



[20240712 10:32:06]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:06]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:06]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:06]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:06]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:06]: send is: {"command":"get_lift_state"}



[20240712 10:32:06]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:06]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:06]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:06]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:06]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:07]: send is: {"command":"get_lift_state"}



[20240712 10:32:07]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:07]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:07]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:07]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:07]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:07]: send is: {"command":"get_lift_state"}



[20240712 10:32:07]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:07]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:07]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:07]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:07]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:08]: send is: {"command":"get_lift_state"}



[20240712 10:32:08]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:08]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:08]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:08]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:08]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:08]: send is: {"command":"get_lift_state"}



[20240712 10:32:08]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:08]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:08]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:08]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:08]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:09]: send is: {"command":"get_lift_state"}



[20240712 10:32:09]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:09]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:09]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:09]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:09]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:10]: send is: {"command":"get_lift_state"}



[20240712 10:32:10]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:10]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:10]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:10]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:10]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:10]: send is: {"command":"get_lift_state"}



[20240712 10:32:10]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:10]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:10]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:10]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:10]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:11]: send is: {"command":"get_lift_state"}



[20240712 10:32:11]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:11]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:11]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:11]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:11]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:11]: send is: {"command":"get_lift_state"}



[20240712 10:32:11]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:11]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:11]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:11]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:11]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:12]: send is: {"command":"get_lift_state"}



[20240712 10:32:12]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:12]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:12]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:12]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:12]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:12]: send is: {"command":"get_lift_state"}



[20240712 10:32:12]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:12]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:12]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:12]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:12]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:13]: send is: {"command":"get_lift_state"}



[20240712 10:32:13]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:13]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:13]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:13]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:13]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:13]: send is: {"command":"get_lift_state"}



[20240712 10:32:13]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:13]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:13]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:13]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:13]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:14]: send is: {"command":"get_lift_state"}



[20240712 10:32:14]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:14]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:14]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:14]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:14]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:14]: send is: {"command":"get_lift_state"}



[20240712 10:32:14]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:14]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:14]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:14]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:14]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:15]: send is: {"command":"get_lift_state"}



[20240712 10:32:15]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:15]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:15]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:15]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:15]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:15]: send is: {"command":"get_lift_state"}



[20240712 10:32:15]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:15]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:15]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:15]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:15]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:16]: send is: {"command":"get_lift_state"}



[20240712 10:32:16]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:16]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:16]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:16]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:16]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:17]: send is: {"command":"get_lift_state"}



[20240712 10:32:17]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:17]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:17]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:17]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:17]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:17]: send is: {"command":"get_lift_state"}



[20240712 10:32:17]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:17]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:17]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:17]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:17]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:18]: send is: {"command":"get_lift_state"}



[20240712 10:32:18]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:18]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:18]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:18]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:18]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:18]: send is: {"command":"get_lift_state"}



[20240712 10:32:18]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:18]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:18]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:18]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:18]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:19]: send is: {"command":"get_lift_state"}



[20240712 10:32:19]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:19]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:19]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:19]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:19]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:19]: send is: {"command":"get_lift_state"}



[20240712 10:32:19]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:19]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:19]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:19]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:19]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:20]: send is: {"command":"get_lift_state"}



[20240712 10:32:20]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:20]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:20]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:20]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:20]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:20]: send is: {"command":"get_lift_state"}



[20240712 10:32:20]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:20]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:20]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:20]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:20]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:21]: send is: {"command":"get_lift_state"}



[20240712 10:32:21]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:21]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:21]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:21]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:21]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:21]: send is: {"command":"get_lift_state"}



[20240712 10:32:21]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:21]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:21]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:21]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:21]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:22]: send is: {"command":"get_lift_state"}



[20240712 10:32:22]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:22]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:22]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:22]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:22]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:22]: send is: {"command":"get_lift_state"}



[20240712 10:32:22]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:22]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:22]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:22]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:22]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:23]: send is: {"command":"get_lift_state"}



[20240712 10:32:23]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:23]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:23]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:23]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:23]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:24]: send is: {"command":"get_lift_state"}



[20240712 10:32:24]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:24]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:24]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:24]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:24]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:24]: send is: {"command":"get_lift_state"}



[20240712 10:32:24]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:24]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:24]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:24]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:24]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:25]: send is: {"command":"get_lift_state"}



[20240712 10:32:25]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:25]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:25]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:25]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:25]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:25]: send is: {"command":"get_lift_state"}



[20240712 10:32:25]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:25]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:25]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:25]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:25]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:26]: send is: {"command":"get_lift_state"}



[20240712 10:32:26]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:26]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:26]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:26]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:26]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:26]: send is: {"command":"get_lift_state"}



[20240712 10:32:26]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:26]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:26]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:26]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:26]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:27]: send is: {"command":"get_lift_state"}



[20240712 10:32:27]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:27]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:27]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:27]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:27]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:27]: send is: {"command":"get_lift_state"}



[20240712 10:32:27]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:27]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:27]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:27]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:27]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:28]: send is: {"command":"get_lift_state"}



[20240712 10:32:28]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:28]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:28]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:28]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:28]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:28]: send is: {"command":"get_lift_state"}



[20240712 10:32:28]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:28]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:28]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:28]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:28]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:29]: send is: {"command":"get_lift_state"}



[20240712 10:32:29]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:29]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:29]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:29]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:29]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:29]: send is: {"command":"get_lift_state"}



[20240712 10:32:29]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:29]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:29]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:29]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:29]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:30]: send is: {"command":"get_lift_state"}



[20240712 10:32:30]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:30]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:30]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:30]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:30]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:31]: send is: {"command":"get_lift_state"}



[20240712 10:32:31]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:31]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:31]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:31]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:31]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:31]: send is: {"command":"get_lift_state"}



[20240712 10:32:31]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:31]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:31]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:31]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:31]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:32]: send is: {"command":"get_lift_state"}



[20240712 10:32:32]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:32]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:32]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:32]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:32]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:32]: send is: {"command":"get_lift_state"}



[20240712 10:32:32]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:32]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:32]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:32]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:32]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:33]: send is: {"command":"get_lift_state"}



[20240712 10:32:33]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:33]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:33]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:33]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:33]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:33]: send is: {"command":"get_lift_state"}



[20240712 10:32:33]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:33]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:33]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:33]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:33]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:34]: send is: {"command":"get_lift_state"}



[20240712 10:32:34]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:34]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:34]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:34]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:34]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:34]: send is: {"command":"get_lift_state"}



[20240712 10:32:34]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:34]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:34]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:34]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:34]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:35]: send is: {"command":"get_lift_state"}



[20240712 10:32:35]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:35]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:35]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:35]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:35]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:35]: send is: {"command":"get_lift_state"}



[20240712 10:32:35]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:35]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:35]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:35]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:35]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:36]: send is: {"command":"get_lift_state"}



[20240712 10:32:36]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:36]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:36]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:36]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:36]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:36]: send is: {"command":"get_lift_state"}



[20240712 10:32:36]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:36]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:36]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:36]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:36]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:37]: send is: {"command":"get_lift_state"}



[20240712 10:32:37]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:37]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:37]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:37]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:37]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:38]: send is: {"command":"get_lift_state"}



[20240712 10:32:38]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:38]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:38]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:38]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:38]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:38]: send is: {"command":"get_lift_state"}



[20240712 10:32:38]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:38]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:38]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:38]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:38]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:39]: send is: {"command":"get_lift_state"}



[20240712 10:32:39]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:39]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:39]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:39]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:39]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:39]: send is: {"command":"get_lift_state"}



[20240712 10:32:39]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:39]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:39]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:39]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:39]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:40]: send is: {"command":"get_lift_state"}



[20240712 10:32:40]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:40]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:40]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:40]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:40]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:40]: send is: {"command":"get_lift_state"}



[20240712 10:32:40]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:40]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:40]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:40]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:40]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:41]: send is: {"command":"get_lift_state"}



[20240712 10:32:41]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:41]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:41]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:41]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:41]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:41]: send is: {"command":"get_lift_state"}



[20240712 10:32:41]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:41]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:41]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:41]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:41]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:42]: send is: {"command":"get_lift_state"}



[20240712 10:32:42]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:42]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:42]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:42]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:42]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:42]: send is: {"command":"get_lift_state"}



[20240712 10:32:42]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:42]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:42]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:42]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:42]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:43]: send is: {"command":"get_lift_state"}



[20240712 10:32:43]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:43]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:43]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:43]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:43]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:43]: send is: {"command":"get_lift_state"}



[20240712 10:32:43]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:43]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:43]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:43]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:43]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:44]: send is: {"command":"get_lift_state"}



[20240712 10:32:44]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:44]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:44]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:44]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:44]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:45]: send is: {"command":"get_lift_state"}



[20240712 10:32:45]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:45]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:45]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:45]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:45]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:45]: send is: {"command":"get_lift_state"}



[20240712 10:32:45]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:45]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:45]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:45]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:45]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:46]: send is: {"command":"get_lift_state"}



[20240712 10:32:46]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:46]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:46]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:46]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:46]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:46]: send is: {"command":"get_lift_state"}



[20240712 10:32:46]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:46]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:46]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:46]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:46]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:47]: send is: {"command":"get_lift_state"}



[20240712 10:32:47]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:47]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:47]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:47]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:47]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:47]: send is: {"command":"get_lift_state"}



[20240712 10:32:47]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:47]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:47]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:47]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:47]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:48]: send is: {"command":"get_lift_state"}



[20240712 10:32:48]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:48]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:48]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:48]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:48]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:48]: send is: {"command":"get_lift_state"}



[20240712 10:32:48]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:48]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:48]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:48]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:48]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:49]: send is: {"command":"get_lift_state"}



[20240712 10:32:49]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:49]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:49]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:49]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:49]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:49]: send is: {"command":"get_lift_state"}



[20240712 10:32:49]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:49]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:49]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:49]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:49]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:50]: send is: {"command":"get_lift_state"}



[20240712 10:32:50]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:50]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:50]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:50]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:50]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:51]: send is: {"command":"get_lift_state"}



[20240712 10:32:51]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:51]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:51]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:51]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:51]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:51]: send is: {"command":"get_lift_state"}



[20240712 10:32:51]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:51]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:51]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:51]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:51]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:52]: send is: {"command":"get_lift_state"}



[20240712 10:32:52]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:52]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:52]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:52]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:52]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:52]: send is: {"command":"get_lift_state"}



[20240712 10:32:52]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:52]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:52]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:52]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:52]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:53]: send is: {"command":"get_lift_state"}



[20240712 10:32:53]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:53]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:53]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:53]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:53]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:53]: send is: {"command":"get_lift_state"}



[20240712 10:32:53]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:53]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:53]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:53]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:53]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:54]: send is: {"command":"get_lift_state"}



[20240712 10:32:54]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:54]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:54]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:54]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:54]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:54]: send is: {"command":"get_lift_state"}



[20240712 10:32:54]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:54]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:54]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:54]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:54]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:55]: send is: {"command":"get_lift_state"}



[20240712 10:32:55]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:55]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:55]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:55]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:55]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:55]: send is: {"command":"get_lift_state"}



[20240712 10:32:55]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:55]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:55]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:55]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:55]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:56]: send is: {"command":"get_lift_state"}



[20240712 10:32:56]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:56]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:56]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:56]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:56]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:56]: send is: {"command":"get_lift_state"}



[20240712 10:32:56]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:56]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:56]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:56]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:56]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:57]: send is: {"command":"get_lift_state"}



[20240712 10:32:57]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:57]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:57]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:57]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:57]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:57]: send is: {"command":"get_lift_state"}



[20240712 10:32:57]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:57]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:57]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:57]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:57]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:58]: send is: {"command":"get_lift_state"}



[20240712 10:32:58]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:58]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:58]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:58]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:58]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:59]: send is: {"command":"get_lift_state"}



[20240712 10:32:59]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:59]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:59]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:59]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:59]: [rm_get_lift_state] mode parse result: 2

[20240712 10:32:59]: send is: {"command":"get_lift_state"}



[20240712 10:32:59]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:32:59]: [rm_get_lift_state] height parse result: 0

[20240712 10:32:59]: [rm_get_lift_state] current parse result: 0

[20240712 10:32:59]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:32:59]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:00]: send is: {"command":"get_lift_state"}



[20240712 10:33:00]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:00]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:00]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:00]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:00]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:00]: send is: {"command":"get_lift_state"}



[20240712 10:33:00]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:00]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:00]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:00]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:00]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:01]: send is: {"command":"get_lift_state"}



[20240712 10:33:01]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:01]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:01]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:01]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:01]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:01]: send is: {"command":"get_lift_state"}



[20240712 10:33:01]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:01]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:01]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:01]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:01]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:02]: send is: {"command":"get_lift_state"}



[20240712 10:33:02]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:02]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:02]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:02]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:02]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:02]: send is: {"command":"get_lift_state"}



[20240712 10:33:02]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:02]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:02]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:02]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:02]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:03]: send is: {"command":"get_lift_state"}



[20240712 10:33:03]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:03]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:03]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:03]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:03]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:03]: send is: {"command":"get_lift_state"}



[20240712 10:33:03]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:03]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:03]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:03]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:03]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:04]: send is: {"command":"get_lift_state"}



[20240712 10:33:04]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:04]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:04]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:04]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:04]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:04]: send is: {"command":"get_lift_state"}



[20240712 10:33:04]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:04]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:04]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:04]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:04]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:05]: send is: {"command":"get_lift_state"}



[20240712 10:33:05]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:05]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:05]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:05]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:05]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:05]: send is: {"command":"get_lift_state"}



[20240712 10:33:05]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:05]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:05]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:05]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:05]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:06]: send is: {"command":"get_lift_state"}



[20240712 10:33:06]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:06]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:06]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:06]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:06]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:07]: send is: {"command":"get_lift_state"}



[20240712 10:33:07]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:07]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:07]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:07]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:07]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:07]: send is: {"command":"get_lift_state"}



[20240712 10:33:07]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:07]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:07]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:07]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:07]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:08]: send is: {"command":"get_lift_state"}



[20240712 10:33:08]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:08]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:08]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:08]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:08]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:08]: send is: {"command":"get_lift_state"}



[20240712 10:33:08]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:08]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:08]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:08]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:08]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:09]: send is: {"command":"get_lift_state"}



[20240712 10:33:09]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:09]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:09]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:09]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:09]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:09]: send is: {"command":"get_lift_state"}



[20240712 10:33:09]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:09]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:09]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:09]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:09]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:10]: send is: {"command":"get_lift_state"}



[20240712 10:33:10]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:10]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:10]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:10]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:10]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:10]: send is: {"command":"get_lift_state"}



[20240712 10:33:10]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:10]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:10]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:10]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:10]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:11]: send is: {"command":"get_lift_state"}



[20240712 10:33:11]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:11]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:11]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:11]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:11]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:11]: send is: {"command":"get_lift_state"}



[20240712 10:33:11]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:11]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:11]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:11]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:11]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:12]: send is: {"command":"get_lift_state"}



[20240712 10:33:12]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:12]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:12]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:12]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:12]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:12]: send is: {"command":"get_lift_state"}



[20240712 10:33:12]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:12]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:12]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:12]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:12]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:13]: send is: {"command":"get_lift_state"}



[20240712 10:33:13]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:13]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:13]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:13]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:13]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:14]: send is: {"command":"get_lift_state"}



[20240712 10:33:14]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:14]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:14]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:14]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:14]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:14]: send is: {"command":"get_lift_state"}



[20240712 10:33:14]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:14]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:14]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:14]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:14]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:15]: send is: {"command":"get_lift_state"}



[20240712 10:33:15]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:15]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:15]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:15]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:15]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:15]: send is: {"command":"get_lift_state"}



[20240712 10:33:15]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:15]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:15]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:15]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:15]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:16]: send is: {"command":"get_lift_state"}



[20240712 10:33:16]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:16]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:16]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:16]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:16]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:16]: send is: {"command":"get_lift_state"}



[20240712 10:33:16]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:16]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:16]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:16]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:16]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:17]: send is: {"command":"get_lift_state"}



[20240712 10:33:17]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:17]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:17]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:17]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:17]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:17]: send is: {"command":"get_lift_state"}



[20240712 10:33:17]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:17]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:17]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:17]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:17]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:18]: send is: {"command":"get_lift_state"}



[20240712 10:33:18]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:18]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:18]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:18]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:18]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:18]: send is: {"command":"get_lift_state"}



[20240712 10:33:18]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:18]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:18]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:18]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:18]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:19]: send is: {"command":"get_lift_state"}



[20240712 10:33:19]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:19]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:19]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:19]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:19]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:19]: send is: {"command":"get_lift_state"}



[20240712 10:33:19]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:19]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:19]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:19]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:19]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:20]: send is: {"command":"get_lift_state"}



[20240712 10:33:20]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:20]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:20]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:20]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:20]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:21]: send is: {"command":"get_lift_state"}



[20240712 10:33:21]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:21]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:21]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:21]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:21]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:21]: send is: {"command":"get_lift_state"}



[20240712 10:33:21]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:21]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:21]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:21]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:21]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:22]: send is: {"command":"get_lift_state"}



[20240712 10:33:22]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:22]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:22]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:22]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:22]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:22]: send is: {"command":"get_lift_state"}



[20240712 10:33:22]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:22]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:22]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:22]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:22]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:23]: send is: {"command":"get_lift_state"}



[20240712 10:33:23]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:23]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:23]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:23]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:23]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:23]: send is: {"command":"get_lift_state"}



[20240712 10:33:23]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:23]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:23]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:23]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:23]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:24]: send is: {"command":"get_lift_state"}



[20240712 10:33:24]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:24]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:24]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:24]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:24]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:24]: send is: {"command":"get_lift_state"}



[20240712 10:33:24]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:24]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:24]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:24]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:24]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:25]: send is: {"command":"get_lift_state"}



[20240712 10:33:25]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:25]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:25]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:25]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:25]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:25]: send is: {"command":"get_lift_state"}



[20240712 10:33:25]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:25]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:25]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:25]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:25]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:26]: send is: {"command":"get_lift_state"}



[20240712 10:33:26]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:26]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:26]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:26]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:26]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:26]: send is: {"command":"get_lift_state"}



[20240712 10:33:26]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:26]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:26]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:26]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:26]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:27]: send is: {"command":"get_lift_state"}



[20240712 10:33:27]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:27]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:27]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:27]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:27]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:27]: send is: {"command":"get_lift_state"}



[20240712 10:33:27]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:27]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:27]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:27]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:27]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:28]: send is: {"command":"get_lift_state"}



[20240712 10:33:28]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:28]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:28]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:28]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:28]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:29]: send is: {"command":"get_lift_state"}



[20240712 10:33:29]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:29]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:29]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:29]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:29]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:29]: send is: {"command":"get_lift_state"}



[20240712 10:33:29]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:29]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:29]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:29]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:29]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:30]: send is: {"command":"get_lift_state"}



[20240712 10:33:30]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:30]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:30]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:30]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:30]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:30]: send is: {"command":"get_lift_state"}



[20240712 10:33:30]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:30]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:30]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:30]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:30]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:31]: send is: {"command":"get_lift_state"}



[20240712 10:33:31]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:31]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:31]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:31]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:31]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:31]: send is: {"command":"get_lift_state"}



[20240712 10:33:31]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:31]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:31]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:31]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:31]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:32]: send is: {"command":"get_lift_state"}



[20240712 10:33:32]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:32]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:32]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:32]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:32]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:32]: send is: {"command":"get_lift_state"}



[20240712 10:33:32]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:32]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:32]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:32]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:32]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:33]: send is: {"command":"get_lift_state"}



[20240712 10:33:33]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:33]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:33]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:33]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:33]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:33]: send is: {"command":"get_lift_state"}



[20240712 10:33:33]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:33]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:33]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:33]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:33]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:34]: send is: {"command":"get_lift_state"}



[20240712 10:33:34]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:34]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:34]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:34]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:34]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:34]: send is: {"command":"get_lift_state"}



[20240712 10:33:34]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:34]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:34]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:34]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:34]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:35]: send is: {"command":"get_lift_state"}



[20240712 10:33:35]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:35]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:35]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:35]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:35]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:36]: send is: {"command":"get_lift_state"}



[20240712 10:33:36]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:36]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:36]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:36]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:36]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:36]: send is: {"command":"get_lift_state"}



[20240712 10:33:36]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:36]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:36]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:36]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:36]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:37]: send is: {"command":"get_lift_state"}



[20240712 10:33:37]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:37]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:37]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:37]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:37]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:37]: send is: {"command":"get_lift_state"}



[20240712 10:33:37]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:37]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:37]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:37]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:37]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:38]: send is: {"command":"get_lift_state"}



[20240712 10:33:38]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:38]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:38]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:38]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:38]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:38]: send is: {"command":"get_lift_state"}



[20240712 10:33:38]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:38]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:38]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:38]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:38]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:39]: send is: {"command":"get_lift_state"}



[20240712 10:33:39]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:39]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:39]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:39]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:39]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:39]: send is: {"command":"get_lift_state"}



[20240712 10:33:39]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:39]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:39]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:39]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:39]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:40]: send is: {"command":"get_lift_state"}



[20240712 10:33:40]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:40]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:40]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:40]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:40]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:40]: send is: {"command":"get_lift_state"}



[20240712 10:33:40]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:40]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:40]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:40]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:40]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:41]: send is: {"command":"get_lift_state"}



[20240712 10:33:41]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:41]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:41]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:41]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:41]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:41]: send is: {"command":"get_lift_state"}



[20240712 10:33:41]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:41]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:41]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:41]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:41]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:42]: send is: {"command":"get_lift_state"}



[20240712 10:33:42]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:42]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:42]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:42]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:42]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:42]: send is: {"command":"get_lift_state"}



[20240712 10:33:42]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:42]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:42]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:42]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:42]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:43]: send is: {"command":"get_lift_state"}



[20240712 10:33:43]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:43]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:43]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:43]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:43]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:43]: send is: {"command":"get_lift_state"}



[20240712 10:33:43]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:43]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:43]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:43]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:43]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:44]: send is: {"command":"get_lift_state"}



[20240712 10:33:44]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:44]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:44]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:44]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:44]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:44]: send is: {"command":"get_lift_state"}



[20240712 10:33:45]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:45]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:45]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:45]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:45]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:45]: send is: {"command":"get_lift_state"}



[20240712 10:33:45]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:45]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:45]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:45]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:45]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:46]: send is: {"command":"get_lift_state"}



[20240712 10:33:46]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:46]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:46]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:46]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:46]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:46]: send is: {"command":"get_lift_state"}



[20240712 10:33:46]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:46]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:46]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:46]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:46]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:47]: send is: {"command":"get_lift_state"}



[20240712 10:33:47]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:47]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:47]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:47]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:47]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:47]: send is: {"command":"get_lift_state"}



[20240712 10:33:47]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:47]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:47]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:47]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:47]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:48]: send is: {"command":"get_lift_state"}



[20240712 10:33:48]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:48]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:48]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:48]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:48]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:48]: send is: {"command":"get_lift_state"}



[20240712 10:33:48]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:48]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:48]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:48]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:48]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:49]: send is: {"command":"get_lift_state"}



[20240712 10:33:49]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:49]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:49]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:49]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:49]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:49]: send is: {"command":"get_lift_state"}



[20240712 10:33:49]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:49]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:49]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:49]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:49]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:50]: send is: {"command":"get_lift_state"}



[20240712 10:33:50]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:50]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:50]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:50]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:50]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:50]: send is: {"command":"get_lift_state"}



[20240712 10:33:50]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:50]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:50]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:50]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:50]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:51]: send is: {"command":"get_lift_state"}



[20240712 10:33:51]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:51]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:51]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:51]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:51]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:51]: send is: {"command":"get_lift_state"}



[20240712 10:33:51]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:51]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:51]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:51]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:51]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:52]: send is: {"command":"get_lift_state"}



[20240712 10:33:52]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:52]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:52]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:52]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:52]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:52]: send is: {"command":"get_lift_state"}



[20240712 10:33:52]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:52]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:52]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:52]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:52]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:53]: send is: {"command":"get_lift_state"}



[20240712 10:33:53]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:53]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:53]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:53]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:53]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:53]: send is: {"command":"get_lift_state"}



[20240712 10:33:53]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:53]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:53]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:53]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:53]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:54]: send is: {"command":"get_lift_state"}



[20240712 10:33:54]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:54]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:54]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:54]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:54]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:54]: send is: {"command":"get_lift_state"}



[20240712 10:33:54]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:54]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:54]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:54]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:54]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:55]: send is: {"command":"get_lift_state"}



[20240712 10:33:55]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:55]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:55]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:55]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:55]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:56]: send is: {"command":"get_lift_state"}



[20240712 10:33:56]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:56]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:56]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:56]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:56]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:56]: send is: {"command":"get_lift_state"}



[20240712 10:33:56]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:56]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:56]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:56]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:56]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:57]: send is: {"command":"get_lift_state"}



[20240712 10:33:57]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:57]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:57]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:57]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:57]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:57]: send is: {"command":"get_lift_state"}



[20240712 10:33:57]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:57]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:57]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:57]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:57]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:58]: send is: {"command":"get_lift_state"}



[20240712 10:33:58]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:58]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:58]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:58]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:58]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:58]: send is: {"command":"get_lift_state"}



[20240712 10:33:58]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:58]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:58]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:58]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:58]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:59]: send is: {"command":"get_lift_state"}



[20240712 10:33:59]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:59]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:59]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:59]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:59]: [rm_get_lift_state] mode parse result: 2

[20240712 10:33:59]: send is: {"command":"get_lift_state"}



[20240712 10:33:59]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:33:59]: [rm_get_lift_state] height parse result: 0

[20240712 10:33:59]: [rm_get_lift_state] current parse result: 0

[20240712 10:33:59]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:33:59]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:00]: send is: {"command":"get_lift_state"}



[20240712 10:34:00]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:00]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:00]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:00]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:00]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:00]: send is: {"command":"get_lift_state"}



[20240712 10:34:00]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:00]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:00]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:00]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:00]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:01]: send is: {"command":"get_lift_state"}



[20240712 10:34:01]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:01]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:01]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:01]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:01]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:01]: send is: {"command":"get_lift_state"}



[20240712 10:34:01]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:01]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:01]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:01]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:01]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:02]: send is: {"command":"get_lift_state"}



[20240712 10:34:02]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:02]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:02]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:02]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:02]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:02]: send is: {"command":"get_lift_state"}



[20240712 10:34:02]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:02]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:02]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:02]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:02]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:03]: send is: {"command":"get_lift_state"}



[20240712 10:34:03]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:03]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:03]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:03]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:03]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:03]: send is: {"command":"get_lift_state"}



[20240712 10:34:03]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:03]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:03]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:03]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:03]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:04]: send is: {"command":"get_lift_state"}



[20240712 10:34:04]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:04]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:04]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:04]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:04]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:04]: send is: {"command":"get_lift_state"}



[20240712 10:34:04]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:04]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:04]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:04]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:04]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:05]: send is: {"command":"get_lift_state"}



[20240712 10:34:05]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:05]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:05]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:05]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:05]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:05]: send is: {"command":"get_lift_state"}



[20240712 10:34:05]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:05]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:05]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:05]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:05]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:06]: send is: {"command":"get_lift_state"}



[20240712 10:34:06]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:06]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:06]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:06]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:06]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:06]: send is: {"command":"get_lift_state"}



[20240712 10:34:07]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:07]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:07]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:07]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:07]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:07]: send is: {"command":"get_lift_state"}



[20240712 10:34:07]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:07]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:07]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:07]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:07]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:08]: send is: {"command":"get_lift_state"}



[20240712 10:34:08]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:08]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:08]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:08]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:08]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:08]: send is: {"command":"get_lift_state"}



[20240712 10:34:08]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:08]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:08]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:08]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:08]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:09]: send is: {"command":"get_lift_state"}



[20240712 10:34:09]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:09]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:09]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:09]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:09]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:09]: send is: {"command":"get_lift_state"}



[20240712 10:34:09]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:09]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:09]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:09]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:09]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:10]: send is: {"command":"get_lift_state"}



[20240712 10:34:10]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:10]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:10]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:10]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:10]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:10]: send is: {"command":"get_lift_state"}



[20240712 10:34:10]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:10]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:10]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:10]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:10]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:11]: send is: {"command":"get_lift_state"}



[20240712 10:34:11]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:11]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:11]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:11]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:11]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:11]: send is: {"command":"get_lift_state"}



[20240712 10:34:11]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:11]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:11]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:11]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:11]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:12]: send is: {"command":"get_lift_state"}



[20240712 10:34:12]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:12]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:12]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:12]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:12]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:12]: send is: {"command":"get_lift_state"}



[20240712 10:34:12]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:12]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:12]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:12]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:12]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:13]: send is: {"command":"get_lift_state"}



[20240712 10:34:13]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:13]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:13]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:13]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:13]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:13]: send is: {"command":"get_lift_state"}



[20240712 10:34:13]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:13]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:13]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:13]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:13]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:14]: send is: {"command":"get_lift_state"}



[20240712 10:34:14]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:14]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:14]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:14]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:14]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:14]: send is: {"command":"get_lift_state"}



[20240712 10:34:14]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:14]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:14]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:14]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:14]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:15]: send is: {"command":"get_lift_state"}



[20240712 10:34:15]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:15]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:15]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:15]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:15]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:15]: send is: {"command":"get_lift_state"}



[20240712 10:34:15]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:15]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:15]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:15]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:15]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:16]: send is: {"command":"get_lift_state"}



[20240712 10:34:16]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:16]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:16]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:16]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:16]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:16]: send is: {"command":"get_lift_state"}



[20240712 10:34:16]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:16]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:16]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:16]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:16]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:17]: send is: {"command":"get_lift_state"}



[20240712 10:34:17]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:17]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:17]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:17]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:17]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:17]: send is: {"command":"get_lift_state"}



[20240712 10:34:17]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:17]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:17]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:17]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:17]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:18]: send is: {"command":"get_lift_state"}



[20240712 10:34:18]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:18]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:18]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:18]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:18]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:18]: send is: {"command":"get_lift_state"}



[20240712 10:34:18]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:18]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:18]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:18]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:18]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:19]: send is: {"command":"get_lift_state"}



[20240712 10:34:19]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:19]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:19]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:19]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:19]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:19]: send is: {"command":"get_lift_state"}



[20240712 10:34:19]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:19]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:19]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:19]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:19]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:20]: send is: {"command":"get_lift_state"}



[20240712 10:34:20]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:20]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:20]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:20]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:20]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:20]: send is: {"command":"get_lift_state"}



[20240712 10:34:20]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:20]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:20]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:20]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:20]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:21]: send is: {"command":"get_lift_state"}



[20240712 10:34:21]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:21]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:21]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:21]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:21]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:21]: send is: {"command":"get_lift_state"}



[20240712 10:34:21]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:21]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:21]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:21]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:21]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:22]: send is: {"command":"get_lift_state"}



[20240712 10:34:22]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:22]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:22]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:22]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:22]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:23]: send is: {"command":"get_lift_state"}



[20240712 10:34:23]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:23]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:23]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:23]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:23]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:23]: send is: {"command":"get_lift_state"}



[20240712 10:34:23]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:23]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:23]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:23]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:23]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:24]: send is: {"command":"get_lift_state"}



[20240712 10:34:24]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:24]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:24]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:24]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:24]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:24]: send is: {"command":"get_lift_state"}



[20240712 10:34:24]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:24]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:24]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:24]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:24]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:25]: send is: {"command":"get_lift_state"}



[20240712 10:34:25]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:25]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:25]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:25]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:25]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:25]: send is: {"command":"get_lift_state"}



[20240712 10:34:25]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:25]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:25]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:25]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:25]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:26]: send is: {"command":"get_lift_state"}



[20240712 10:34:26]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:26]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:26]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:26]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:26]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:26]: send is: {"command":"get_lift_state"}



[20240712 10:34:26]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:26]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:26]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:26]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:26]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:27]: send is: {"command":"get_lift_state"}



[20240712 10:34:27]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:27]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:27]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:27]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:27]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:27]: send is: {"command":"get_lift_state"}



[20240712 10:34:27]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:27]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:27]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:27]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:27]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:28]: send is: {"command":"get_lift_state"}



[20240712 10:34:28]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:28]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:28]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:28]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:28]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:28]: send is: {"command":"get_lift_state"}



[20240712 10:34:28]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:28]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:28]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:28]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:28]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:29]: send is: {"command":"get_lift_state"}



[20240712 10:34:29]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:29]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:29]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:29]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:29]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:30]: send is: {"command":"get_lift_state"}



[20240712 10:34:30]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:30]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:30]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:30]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:30]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:30]: send is: {"command":"get_lift_state"}



[20240712 10:34:30]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:30]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:30]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:30]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:30]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:31]: send is: {"command":"get_lift_state"}



[20240712 10:34:31]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:31]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:31]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:31]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:31]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:31]: send is: {"command":"get_lift_state"}



[20240712 10:34:31]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:31]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:31]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:31]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:31]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:32]: send is: {"command":"get_lift_state"}



[20240712 10:34:32]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:32]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:32]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:32]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:32]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:32]: send is: {"command":"get_lift_state"}



[20240712 10:34:32]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:32]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:32]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:32]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:32]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:33]: send is: {"command":"get_lift_state"}



[20240712 10:34:33]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:33]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:33]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:33]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:33]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:35]: send is: {"command":"get_lift_state"}



[20240712 10:34:35]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:35]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:35]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:35]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:35]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:37]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 10:34:37]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 10:34:39]: send is: {"command":"get_lift_state"}



[20240712 10:34:39]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:39]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:39]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:39]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:39]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:41]: send is: {"command":"get_lift_state"}



[20240712 10:34:41]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:41]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:41]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:41]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:41]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:44]: send is: {"command":"get_lift_state"}



[20240712 10:34:44]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:44]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:44]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:44]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:44]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:46]: send is: {"command":"get_lift_state"}



[20240712 10:34:46]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:46]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:46]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:46]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:46]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:49]: send is: {"command":"get_lift_state"}



[20240712 10:34:49]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:49]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:49]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:49]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:49]: [rm_get_lift_state] mode parse result: 2

[20240712 10:34:51]: send is: {"command":"get_lift_state"}



[20240712 10:34:51]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:34:51]: [rm_get_lift_state] height parse result: 0

[20240712 10:34:51]: [rm_get_lift_state] current parse result: 0

[20240712 10:34:51]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:34:51]: [rm_get_lift_state] mode parse result: 2

[20240712 10:35:53] Begin API Testing.
[20240712 10:35:54]: send is: {"command":"get_arm_software_info"}



[20240712 10:35:54]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.8"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/03 14:19:27","commit_id":"37ec433","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/07/03 14:19:41","commit_id":"768a6d4","version":"V1.5.6"}}

[20240712 10:35:54]: [rm_get_arm_software_info] Product version: RM65-BI

[20240712 10:35:54]: [rm_get_arm_software_info] Algorithm version: 1.3.8

[20240712 10:35:54]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240712 10:35:54]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/03 14:19:27

[20240712 10:35:54]: [rm_get_arm_software_info] Dynamic model version: 2

[20240712 10:35:54]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240712 10:35:54]: [rm_get_arm_software_info] Plan build Time: 2024/07/03 14:19:27

[20240712 10:35:54]: send is: {"command":"get_realtime_push"}



[20240712 10:35:54]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":10,"enable":true,"ip":"192.168.1.6","port":8089}

[20240712 10:35:54]: [rm_get_realtime_push] cycle parse result: 10

[20240712 10:35:54]: [rm_get_realtime_push] port parse result: 8089

[20240712 10:35:54]: [rm_get_realtime_push] ip parse result: 192.168.1.6

[20240712 10:35:54]: [rm_get_realtime_push] enable parse result: 1

[20240712 10:35:54]: send is: {"command":"get_current_work_frame"}



[20240712 10:35:54]: thread_socket_receive len 76 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,1570,0],"state":"current_work_frame"}

[20240712 10:35:54]: [get_current_work_frame] Work frame Name: Base

[20240712 10:35:54]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240712 10:35:54]: send is: {"command":"get_current_tool_frame"}



[20240712 10:35:54]: 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"}

[20240712 10:35:54]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240712 10:35:54]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240712 10:35:54]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240712 10:35:54]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240712 10:35:54]: send is: {"command":"get_install_pose"}



[20240712 10:35:54]: thread_socket_receive len 42 robot_handle: 1 message:{"pose":[0,90,0],"state":"install_pose"}

[20240712 10:35:54]: [rm_get_install_pose] pose parse result:

[20240712 10:35:54]:  0

[20240712 10:35:54]:  90

[20240712 10:35:54]:  0

[20240712 10:35:54]: send is: {"command":"get_joint_min_pos"}



[20240712 10:35:54]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}

[20240712 10:35:54]: [rm_get_joint_min_pos] min_pos parse result:

[20240712 10:35:54]:  -178000

[20240712 10:35:54]:  -130000

[20240712 10:35:54]:  -135000

[20240712 10:35:54]:  -178000

[20240712 10:35:54]:  -128000

[20240712 10:35:54]:  -360000

[20240712 10:35:54]: send is: {"command":"get_joint_max_pos"}



[20240712 10:35:54]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}

[20240712 10:35:54]: [rm_get_joint_max_pos] max_pos parse result:

[20240712 10:35:54]:  178000

[20240712 10:35:54]:  130000

[20240712 10:35:54]:  135000

[20240712 10:35:54]:  178000

[20240712 10:35:54]:  128000

[20240712 10:35:54]:  360000

[20240712 10:35:54]: send is: {"command":"get_joint_max_acc"}



[20240712 10:35:54]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}

[20240712 10:35:54]: [rm_get_joint_max_acc] joint_acc parse result:

[20240712 10:35:54]:  100000

[20240712 10:35:54]:  100000

[20240712 10:35:54]:  100000

[20240712 10:35:54]:  100000

[20240712 10:35:54]:  100000

[20240712 10:35:54]:  100000

[20240712 10:35:54]: send is: {"command":"get_joint_max_speed"}



[20240712 10:35:54]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}

[20240712 10:35:54]: [rm_get_joint_max_speed] joint_speed parse result:

[20240712 10:35:54]:  30000

[20240712 10:35:54]:  30000

[20240712 10:35:54]:  37500

[20240712 10:35:54]:  37500

[20240712 10:35:54]:  37500

[20240712 10:35:54]:  37500

[20240712 10:35:54]: send is: {"command":"set_change_work_frame","frame_name":"Base"}



[20240712 10:35:54]: thread_socket_receive len 62 robot_handle: 1 message:{"change_work_frame":true,"command":"set_change_work_frame"}

[20240712 10:35:54]: [rm_change_work_frame] change_work_frame: true

[20240712 10:35:54]: send is: {"command":"get_current_work_frame"}



[20240712 10:35:54]: thread_socket_receive len 76 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,1570,0],"state":"current_work_frame"}

[20240712 10:35:54]: [get_current_work_frame] Work frame Name: Base

[20240712 10:35:54]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240712 10:36:23]: send is: {"command":"set_lift_height","speed":20,"height":500}



[20240712 10:36:28]: send is: {"command":"movej_p","v":20,"pose":[100000,0,700000,0,0,3141],"trajectory_connect":0,"r":0}



[20240712 10:36:28]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}

[20240712 10:36:28]: [rm_movej_p] receive_state: true

[20240712 10:36:28]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:28]: thread_socket_receive len 85 robot_handle: 1 message:{"data":[0,20000,69999,-1,89995,0],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:28]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (0, 20000, 69999, -1, 89995, 0, 40)

[20240712 10:36:28]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:28]: [rm_get_arm_current_trajectory] Joint Angles: 0.000, 20.000, 69.999, -0.001, 89.995, 0.000

[20240712 10:36:28]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:28]: thread_socket_receive len 87 robot_handle: 1 message:{"data":[-1,19905,70013,-1,89890,-1],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:28]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-1, 19905, 70013, -1, 89890, -1, 40)

[20240712 10:36:28]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:28]: [rm_get_arm_current_trajectory] Joint Angles: -0.001, 19.905, 70.013, -0.001, 89.890, -0.001

[20240712 10:36:28]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:28]: thread_socket_receive len 86 robot_handle: 1 message:{"data":[-1,19189,70206,-2,88736,0],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:28]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-1, 19189, 70206, -2, 88736, 0, 40)

[20240712 10:36:28]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:28]: [rm_get_arm_current_trajectory] Joint Angles: -0.001, 19.189, 70.206, -0.002, 88.736, 0.000

[20240712 10:36:29]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:29]: thread_socket_receive len 85 robot_handle: 1 message:{"data":[0,17343,70680,-2,85869,0],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (0, 17343, 70680, -2, 85869, 0, 40)

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Joint Angles: 0.000, 17.343, 70.680, -0.002, 85.869, 0.000

[20240712 10:36:29]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:29]: thread_socket_receive len 86 robot_handle: 1 message:{"data":[-2,14572,71416,-4,81466,0],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-2, 14572, 71416, -4, 81466, 0, 40)

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Joint Angles: -0.002, 14.572, 71.416, -0.004, 81.466, 0.000

[20240712 10:36:29]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:29]: thread_socket_receive len 87 robot_handle: 1 message:{"data":[-1,11299,72277,-1,76090,-1],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-1, 11299, 72277, -1, 76090, -1, 40)

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Joint Angles: -0.001, 11.299, 72.277, -0.001, 76.090, -0.001

[20240712 10:36:29]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:29]: thread_socket_receive len 84 robot_handle: 1 message:{"data":[2,8014,73064,4,70855,-2],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (2, 8014, 73064, 4, 70855, -2, 40)

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Joint Angles: 0.002, 8.014, 73.064, 0.004, 70.855, -0.002

[20240712 10:36:29]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:29]: thread_socket_receive len 84 robot_handle: 1 message:{"data":[6,4766,73939,0,65797,-5],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (6, 4766, 73939, 0, 65797, -5, 40)

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Joint Angles: 0.006, 4.766, 73.939, 0.000, 65.797, -0.005

[20240712 10:36:29]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:29]: thread_socket_receive len 84 robot_handle: 1 message:{"data":[0,1407,74815,1,60353,-6],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (0, 1407, 74815, 1, 60353, -6, 40)

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Joint Angles: 0.000, 1.407, 74.815, 0.001, 60.353, -0.006

[20240712 10:36:29]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:29]: thread_socket_receive len 87 robot_handle: 1 message:{"data":[-5,-1937,75715,-2,55086,-6],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-5, -1937, 75715, -2, 55086, -6, 40)

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Joint Angles: -0.005, -1.937, 75.715, -0.002, 55.086, -0.006

[20240712 10:36:29]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:29]: thread_socket_receive len 87 robot_handle: 1 message:{"data":[-6,-5200,76560,-1,49706,-9],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-6, -5200, 76560, -1, 49706, -9, 40)

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Joint Angles: -0.006, -5.200, 76.560, -0.001, 49.706, -0.009

[20240712 10:36:29]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:29]: thread_socket_receive len 87 robot_handle: 1 message:{"data":[-1,-8408,77356,4,44592,-10],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-1, -8408, 77356, 4, 44592, -10, 40)

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:29]: [rm_get_arm_current_trajectory] Joint Angles: -0.001, -8.408, 77.356, 0.004, 44.592, -0.010

[20240712 10:36:30]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:30]: thread_socket_receive len 87 robot_handle: 1 message:{"data":[5,-11615,78192,4,39506,-12],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:30]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (5, -11615, 78192, 4, 39506, -12, 40)

[20240712 10:36:30]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:30]: [rm_get_arm_current_trajectory] Joint Angles: 0.005, -11.615, 78.192, 0.004, 39.506, -0.012

[20240712 10:36:30]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:30]: thread_socket_receive len 87 robot_handle: 1 message:{"data":[2,-14875,79028,1,34258,-12],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:30]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (2, -14875, 79028, 1, 34258, -12, 40)

[20240712 10:36:30]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:30]: [rm_get_arm_current_trajectory] Joint Angles: 0.002, -14.875, 79.028, 0.001, 34.258, -0.012

[20240712 10:36:30]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:30]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[-1,-18197,79939,0,28907,-15],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:30]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-1, -18197, 79939, 0, 28907, -15, 40)

[20240712 10:36:30]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:30]: [rm_get_arm_current_trajectory] Joint Angles: -0.001, -18.197, 79.939, 0.000, 28.907, -0.015

[20240712 10:36:30]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:30]: thread_socket_receive len 89 robot_handle: 1 message:{"data":[-4,-21644,80815,-1,23398,-15],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:30]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-4, -21644, 80815, -1, 23398, -15, 40)

[20240712 10:36:30]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:30]: [rm_get_arm_current_trajectory] Joint Angles: -0.004, -21.644, 80.815, -0.001, 23.398, -0.015

[20240712 10:36:30]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:30]: thread_socket_receive len 89 robot_handle: 1 message:{"data":[-4,-24838,81648,-1,18296,-16],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:30]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-4, -24838, 81648, -1, 18296, -16, 40)

[20240712 10:36:30]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:30]: [rm_get_arm_current_trajectory] Joint Angles: -0.004, -24.838, 81.648, -0.001, 18.296, -0.016

[20240712 10:36:30]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:30]: thread_socket_receive len 87 robot_handle: 1 message:{"data":[0,-28098,82519,1,12996,-20],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:30]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (0, -28098, 82519, 1, 12996, -20, 40)

[20240712 10:36:30]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:30]: [rm_get_arm_current_trajectory] Joint Angles: 0.000, -28.098, 82.519, 0.001, 12.996, -0.020

[20240712 10:36:30]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:30]: thread_socket_receive len 86 robot_handle: 1 message:{"data":[4,-31534,83365,0,7678,-23],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:30]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (4, -31534, 83365, 0, 7678, -23, 40)

[20240712 10:36:30]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:30]: [rm_get_arm_current_trajectory] Joint Angles: 0.004, -31.534, 83.365, 0.000, 7.678, -0.023

[20240712 10:36:30]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:30]: thread_socket_receive len 86 robot_handle: 1 message:{"data":[4,-34869,84243,0,2366,-24],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:30]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (4, -34869, 84243, 0, 2366, -24, 40)

[20240712 10:36:30]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:30]: [rm_get_arm_current_trajectory] Joint Angles: 0.004, -34.869, 84.243, 0.000, 2.366, -0.024

[20240712 10:36:31]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:31]: thread_socket_receive len 87 robot_handle: 1 message:{"data":[2,-38133,85124,1,-2937,-20],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (2, -38133, 85124, 1, -2937, -20, 40)

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Joint Angles: 0.002, -38.133, 85.124, 0.001, -2.937, -0.020

[20240712 10:36:31]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:31]: thread_socket_receive len 87 robot_handle: 1 message:{"data":[2,-41452,85989,1,-8107,-23],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (2, -41452, 85989, 1, -8107, -23, 40)

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Joint Angles: 0.002, -41.452, 85.989, 0.001, -8.107, -0.023

[20240712 10:36:31]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:31]: thread_socket_receive len 90 robot_handle: 1 message:{"data":[-6,-44695,86862,-1,-13378,-28],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-6, -44695, 86862, -1, -13378, -28, 40)

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Joint Angles: -0.006, -44.695, 86.862, -0.001, -13.378, -0.028

[20240712 10:36:31]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:31]: thread_socket_receive len 90 robot_handle: 1 message:{"data":[-2,-47951,87674,-2,-18701,-34],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-2, -47951, 87674, -2, -18701, -34, 40)

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Joint Angles: -0.002, -47.951, 87.674, -0.002, -18.701, -0.034

[20240712 10:36:31]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:31]: thread_socket_receive len 89 robot_handle: 1 message:{"data":[1,-51289,88525,-2,-23977,-28],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (1, -51289, 88525, -2, -23977, -28, 40)

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Joint Angles: 0.001, -51.289, 88.525, -0.002, -23.977, -0.028

[20240712 10:36:31]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:31]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[5,-53985,89268,4,-28204,-20],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (5, -53985, 89268, 4, -28204, -20, 40)

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Joint Angles: 0.005, -53.985, 89.268, 0.004, -28.204, -0.020

[20240712 10:36:31]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:31]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[1,-55854,89750,0,-31278,-34],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (1, -55854, 89750, 0, -31278, -34, 40)

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Joint Angles: 0.001, -55.854, 89.750, 0.000, -31.278, -0.034

[20240712 10:36:31]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:31]: thread_socket_receive len 89 robot_handle: 1 message:{"data":[1,-56722,89965,-2,-32684,-32],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (1, -56722, 89965, -2, -32684, -32, 40)

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Joint Angles: 0.001, -56.722, 89.965, -0.002, -32.684, -0.032

[20240712 10:36:31]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:31]: thread_socket_receive len 89 robot_handle: 1 message:{"data":[0,-56927,90015,-2,-32996,-32],"state":"arm_current_trajectory","type":"movej"}

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (0, -56927, 90015, -2, -32996, -32, 40)

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 10:36:31]: [rm_get_arm_current_trajectory] Joint Angles: 0.000, -56.927, 90.015, -0.002, -32.996, -0.032

[20240712 10:36:32]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 10:36:32]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:32]: i is 0 command is current_trajectory_state

[20240712 10:36:32]: i is 0 command is current_trajectory_state

[20240712 10:36:32]: i is 0 command is current_trajectory_state

[20240712 10:36:32]: i is 0 command is current_trajectory_state

[20240712 10:36:32]: i is 0 command is current_trajectory_state

[20240712 10:36:32]: i is 0 command is current_trajectory_state

[20240712 10:36:32]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[0,-56946,90037,-1,-33004,-32],"state":"arm_current_trajectory","type":"none"}

[20240712 10:36:32]: i is 0 command is current_trajectory_state

[20240712 10:36:32]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (0, -56946, 90037, -1, -33004, -32, 40)

[20240712 10:36:32]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 10:36:32]: [rm_get_arm_current_trajectory] Joint Angles: 0.000, -56.946, 90.037, -0.001, -33.004, -0.032

[20240712 10:36:32]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 10:36:35]: send is: {"command":"movel","v":20,"pose":[100000,0,800000,0,0,3141],"trajectory_connect":0,"r":0}



[20240712 10:36:35]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}

[20240712 10:36:35]: [rm_movel] receive_state: true

[20240712 10:36:36]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:36:36]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 10:36:36]: i is 0 command is current_trajectory_state

[20240712 10:36:36]: i is 0 command is current_trajectory_state

[20240712 10:36:36]: i is 0 command is current_trajectory_state

[20240712 10:36:36]: i is 0 command is current_trajectory_state

[20240712 10:36:36]: i is 0 command is current_trajectory_state

[20240712 10:36:36]: i is 0 command is current_trajectory_state

[20240712 10:36:36]: i is 0 command is current_trajectory_state

[20240712 10:36:36]: i is 0 command is current_trajectory_state

[20240712 10:36:36]: i is 0 command is current_trajectory_state

[20240712 10:36:36]: i is 0 command is current_trajectory_state

[20240712 10:36:36]: i is 0 command is current_trajectory_state

[20240712 10:36:36]: i is 0 command is current_trajectory_state

[20240712 10:36:36]: i is 0 command is current_trajectory_state

[20240712 10:36:36]: i is 0 command is current_trajectory_state

[20240712 10:36:36]: i is 0 command is current_trajectory_state

[20240712 10:36:36]: i is 0 command is current_trajectory_state

[20240712 10:36:36]: i is 0 command is current_trajectory_state

[20240712 10:36:36]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[1,-35016,47861,-2,-12877,-17],"state":"arm_current_trajectory","type":"none"}

[20240712 10:36:36]: i is 0 command is current_trajectory_state

[20240712 10:36:36]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (1, -35016, 47861, -2, -12877, -17, 40)

[20240712 10:36:36]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 10:36:36]: [rm_get_arm_current_trajectory] Joint Angles: 0.001, -35.016, 47.861, -0.002, -12.877, -0.017

[20240712 10:36:36]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 10:36:55]: send is: {"command":"set_gripper_pick_on","speed":500,"force":200,"block":true}



[20240712 10:36:55]: thread_socket_receive len 40 robot_handle: 1 message:{"command":"set_gripper","state":true}

[20240712 10:36:55]: [rm_set_gripper_pick_on] state: true

[20240712 10:39:42]: send is: {"command":"movel","v":20,"pose":[100000,0,700000,0,0,3141],"trajectory_connect":0,"r":0}



[20240712 10:39:42]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}

[20240712 10:39:42]: [rm_movel] receive_state: true

[20240712 10:39:43]: send is: {"command":"get_arm_current_trajectory"}



[20240712 10:39:43]: thread_socket_receive len 85 robot_handle: 1 message:{"data":[99602,-5,701711,0,1,3141],"state":"arm_current_trajectory","type":"movel"}

[20240712 10:39:43]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (99602, -5, 701711, 0, 1, 3141, 40)

[20240712 10:39:43]: [rm_get_arm_current_trajectory] Current trajectory is MoveL!

[20240712 10:39:43]: [rm_get_arm_current_trajectory] End effector pose:  0.100, -0.000, 0.702, 0.000, 0.001, 3.141

[20240712 10:39:43]: 

[20240712 10:39:43]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 10:39:43]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 10:40:43]: send is: {"command":"set_lift_height","speed":20,"height":200}



[20240712 10:40:44]: send is: {"command":"get_lift_state"}



[20240712 10:40:44]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:44]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:44]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:44]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:44]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:45]: send is: {"command":"get_lift_state"}



[20240712 10:40:45]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:45]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:45]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:45]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:45]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:45]: send is: {"command":"get_lift_state"}



[20240712 10:40:45]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:45]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:45]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:45]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:45]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:46]: send is: {"command":"get_lift_state"}



[20240712 10:40:46]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:46]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:46]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:46]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:46]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:47]: send is: {"command":"get_lift_state"}



[20240712 10:40:47]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:47]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:47]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:47]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:47]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:47]: send is: {"command":"get_lift_state"}



[20240712 10:40:47]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:47]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:47]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:47]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:47]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:48]: send is: {"command":"get_lift_state"}



[20240712 10:40:48]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:48]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:48]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:48]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:48]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:48]: send is: {"command":"get_lift_state"}



[20240712 10:40:48]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:48]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:48]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:48]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:48]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:49]: send is: {"command":"get_lift_state"}



[20240712 10:40:49]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:49]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:49]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:49]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:49]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:50]: send is: {"command":"get_lift_state"}



[20240712 10:40:50]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:50]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:50]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:50]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:50]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:50]: send is: {"command":"get_lift_state"}



[20240712 10:40:50]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:50]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:50]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:50]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:50]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:51]: send is: {"command":"get_lift_state"}



[20240712 10:40:51]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:51]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:51]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:51]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:51]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:51]: send is: {"command":"get_lift_state"}



[20240712 10:40:51]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:51]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:51]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:51]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:51]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:52]: send is: {"command":"get_lift_state"}



[20240712 10:40:52]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:52]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:52]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:52]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:52]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:52]: send is: {"command":"get_lift_state"}



[20240712 10:40:52]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:52]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:52]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:52]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:52]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:53]: send is: {"command":"get_lift_state"}



[20240712 10:40:53]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:53]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:53]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:53]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:53]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:53]: send is: {"command":"get_lift_state"}



[20240712 10:40:53]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:53]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:53]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:53]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:53]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:54]: send is: {"command":"get_lift_state"}



[20240712 10:40:54]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:54]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:54]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:54]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:54]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:54]: send is: {"command":"get_lift_state"}



[20240712 10:40:54]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:54]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:54]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:54]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:54]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:55]: send is: {"command":"get_lift_state"}



[20240712 10:40:55]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:55]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:55]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:55]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:55]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:55]: send is: {"command":"get_lift_state"}



[20240712 10:40:55]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:55]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:55]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:55]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:55]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:56]: send is: {"command":"get_lift_state"}



[20240712 10:40:56]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:56]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:56]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:56]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:56]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:57]: send is: {"command":"get_lift_state"}



[20240712 10:40:57]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:57]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:57]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:57]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:57]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:57]: send is: {"command":"get_lift_state"}



[20240712 10:40:57]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:57]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:57]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:57]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:57]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:58]: send is: {"command":"get_lift_state"}



[20240712 10:40:58]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:58]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:58]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:58]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:58]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:58]: send is: {"command":"get_lift_state"}



[20240712 10:40:58]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:58]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:58]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:58]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:58]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:59]: send is: {"command":"get_lift_state"}



[20240712 10:40:59]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:59]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:59]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:59]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:59]: [rm_get_lift_state] mode parse result: 2

[20240712 10:40:59]: send is: {"command":"get_lift_state"}



[20240712 10:40:59]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:40:59]: [rm_get_lift_state] height parse result: 0

[20240712 10:40:59]: [rm_get_lift_state] current parse result: 0

[20240712 10:40:59]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:40:59]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:00]: send is: {"command":"get_lift_state"}



[20240712 10:41:00]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:00]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:00]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:00]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:00]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:00]: send is: {"command":"get_lift_state"}



[20240712 10:41:00]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:00]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:00]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:00]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:00]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:01]: send is: {"command":"get_lift_state"}



[20240712 10:41:01]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:01]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:01]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:01]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:01]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:01]: send is: {"command":"get_lift_state"}



[20240712 10:41:01]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:01]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:01]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:01]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:01]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:02]: send is: {"command":"get_lift_state"}



[20240712 10:41:02]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:02]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:02]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:02]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:02]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:03]: send is: {"command":"get_lift_state"}



[20240712 10:41:03]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:03]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:03]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:03]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:03]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:03]: send is: {"command":"get_lift_state"}



[20240712 10:41:03]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:03]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:03]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:03]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:03]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:04]: send is: {"command":"get_lift_state"}



[20240712 10:41:04]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:04]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:04]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:04]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:04]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:04]: send is: {"command":"get_lift_state"}



[20240712 10:41:04]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:04]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:04]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:04]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:04]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:05]: send is: {"command":"get_lift_state"}



[20240712 10:41:05]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:05]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:05]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:05]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:05]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:05]: send is: {"command":"get_lift_state"}



[20240712 10:41:05]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:05]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:05]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:05]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:05]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:06]: send is: {"command":"get_lift_state"}



[20240712 10:41:06]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:06]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:06]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:06]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:06]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:06]: send is: {"command":"get_lift_state"}



[20240712 10:41:06]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:06]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:06]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:06]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:06]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:07]: send is: {"command":"get_lift_state"}



[20240712 10:41:07]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:07]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:07]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:07]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:07]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:07]: send is: {"command":"get_lift_state"}



[20240712 10:41:07]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:07]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:07]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:07]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:07]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:08]: send is: {"command":"get_lift_state"}



[20240712 10:41:08]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:08]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:08]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:08]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:08]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:09]: send is: {"command":"get_lift_state"}



[20240712 10:41:09]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:09]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:09]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:09]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:09]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:09]: send is: {"command":"get_lift_state"}



[20240712 10:41:09]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:09]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:09]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:09]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:09]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:10]: send is: {"command":"get_lift_state"}



[20240712 10:41:10]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:10]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:10]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:10]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:10]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:10]: send is: {"command":"get_lift_state"}



[20240712 10:41:10]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:10]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:10]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:10]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:10]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:11]: send is: {"command":"get_lift_state"}



[20240712 10:41:11]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:11]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:11]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:11]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:11]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:11]: send is: {"command":"get_lift_state"}



[20240712 10:41:11]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:11]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:11]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:11]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:11]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:12]: send is: {"command":"get_lift_state"}



[20240712 10:41:12]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:12]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:12]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:12]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:12]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:12]: send is: {"command":"get_lift_state"}



[20240712 10:41:12]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:12]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:12]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:12]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:12]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:13]: send is: {"command":"get_lift_state"}



[20240712 10:41:13]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:13]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:13]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:13]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:13]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:13]: send is: {"command":"get_lift_state"}



[20240712 10:41:13]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:13]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:13]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:13]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:13]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:14]: send is: {"command":"get_lift_state"}



[20240712 10:41:14]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:14]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:14]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:14]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:14]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:14]: send is: {"command":"get_lift_state"}



[20240712 10:41:14]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:14]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:14]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:14]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:14]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:15]: send is: {"command":"get_lift_state"}



[20240712 10:41:15]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:15]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:15]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:15]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:15]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:16]: send is: {"command":"get_lift_state"}



[20240712 10:41:16]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:16]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:16]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:16]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:16]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:16]: send is: {"command":"get_lift_state"}



[20240712 10:41:16]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:16]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:16]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:16]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:16]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:17]: send is: {"command":"get_lift_state"}



[20240712 10:41:17]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:17]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:17]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:17]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:17]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:17]: send is: {"command":"get_lift_state"}



[20240712 10:41:17]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:17]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:17]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:17]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:17]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:18]: send is: {"command":"get_lift_state"}



[20240712 10:41:18]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:18]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:18]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:18]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:18]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:18]: send is: {"command":"get_lift_state"}



[20240712 10:41:18]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:18]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:18]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:18]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:18]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:19]: send is: {"command":"get_lift_state"}



[20240712 10:41:19]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:19]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:19]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:19]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:19]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:19]: send is: {"command":"get_lift_state"}



[20240712 10:41:19]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:19]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:19]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:19]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:19]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:20]: send is: {"command":"get_lift_state"}



[20240712 10:41:20]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:20]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:20]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:20]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:20]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:20]: send is: {"command":"get_lift_state"}



[20240712 10:41:20]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:20]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:20]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:20]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:20]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:21]: send is: {"command":"get_lift_state"}



[20240712 10:41:21]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:21]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:21]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:21]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:21]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:22]: send is: {"command":"get_lift_state"}



[20240712 10:41:22]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:22]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:22]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:22]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:22]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:22]: send is: {"command":"get_lift_state"}



[20240712 10:41:22]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:22]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:22]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:22]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:22]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:23]: send is: {"command":"get_lift_state"}



[20240712 10:41:23]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:23]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:23]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:23]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:23]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:23]: send is: {"command":"get_lift_state"}



[20240712 10:41:23]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:23]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:23]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:23]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:23]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:24]: send is: {"command":"get_lift_state"}



[20240712 10:41:24]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:24]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:24]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:24]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:24]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:24]: send is: {"command":"get_lift_state"}



[20240712 10:41:24]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:24]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:24]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:24]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:24]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:25]: send is: {"command":"get_lift_state"}



[20240712 10:41:25]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:25]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:25]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:25]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:25]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:25]: send is: {"command":"get_lift_state"}



[20240712 10:41:25]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:25]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:25]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:25]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:25]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:26]: send is: {"command":"get_lift_state"}



[20240712 10:41:26]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:26]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:26]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:26]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:26]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:26]: send is: {"command":"get_lift_state"}



[20240712 10:41:26]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:26]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:26]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:26]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:26]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:27]: send is: {"command":"get_lift_state"}



[20240712 10:41:27]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:27]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:27]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:27]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:27]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:27]: send is: {"command":"get_lift_state"}



[20240712 10:41:27]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:27]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:27]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:27]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:27]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:28]: send is: {"command":"get_lift_state"}



[20240712 10:41:28]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:28]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:28]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:28]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:28]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:28]: send is: {"command":"get_lift_state"}



[20240712 10:41:29]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:29]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:29]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:29]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:29]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:30]: send is: {"command":"get_lift_state"}



[20240712 10:41:30]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:30]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:30]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:30]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:30]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:32]: send is: {"command":"get_lift_state"}



[20240712 10:41:32]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:32]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:32]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:32]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:32]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:35]: send is: {"command":"get_lift_state"}



[20240712 10:41:35]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:35]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:35]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:35]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:35]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:37]: send is: {"command":"get_lift_state"}



[20240712 10:41:37]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:37]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:37]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:37]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:37]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:39]: send is: {"command":"get_lift_state"}



[20240712 10:41:39]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:40]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:40]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:40]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:40]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:42]: send is: {"command":"get_lift_state"}



[20240712 10:41:42]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:42]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:42]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:42]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:42]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:44]: send is: {"command":"get_lift_state"}



[20240712 10:41:44]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:44]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:44]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:44]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:44]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:47]: send is: {"command":"get_lift_state"}



[20240712 10:41:47]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:47]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:47]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:47]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:47]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:49]: send is: {"command":"get_lift_state"}



[20240712 10:41:49]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:49]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:49]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:49]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:49]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:52]: send is: {"command":"get_lift_state"}



[20240712 10:41:52]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:52]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:52]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:52]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:52]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:54]: send is: {"command":"get_lift_state"}



[20240712 10:41:54]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:54]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:54]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:54]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:54]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:57]: send is: {"command":"get_lift_state"}



[20240712 10:41:57]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:57]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:57]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:57]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:57]: [rm_get_lift_state] mode parse result: 2

[20240712 10:41:59]: send is: {"command":"get_lift_state"}



[20240712 10:41:59]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:41:59]: [rm_get_lift_state] height parse result: 0

[20240712 10:41:59]: [rm_get_lift_state] current parse result: 0

[20240712 10:41:59]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:41:59]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:02]: send is: {"command":"get_lift_state"}



[20240712 10:42:02]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:02]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:02]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:02]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:02]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:04]: send is: {"command":"get_lift_state"}



[20240712 10:42:04]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:04]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:04]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:04]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:04]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:05]: send is: {"command":"get_lift_state"}



[20240712 10:42:05]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:05]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:05]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:05]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:05]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:05]: send is: {"command":"get_lift_state"}



[20240712 10:42:05]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:05]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:05]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:05]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:05]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:06]: send is: {"command":"get_lift_state"}



[20240712 10:42:06]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:06]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:06]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:06]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:06]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:06]: send is: {"command":"get_lift_state"}



[20240712 10:42:06]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:06]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:06]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:06]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:06]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:07]: send is: {"command":"get_lift_state"}



[20240712 10:42:07]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:07]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:07]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:07]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:07]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:07]: send is: {"command":"get_lift_state"}



[20240712 10:42:07]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:07]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:07]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:07]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:07]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:08]: send is: {"command":"get_lift_state"}



[20240712 10:42:08]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:08]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:08]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:08]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:08]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:08]: send is: {"command":"get_lift_state"}



[20240712 10:42:08]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:08]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:08]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:08]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:08]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:09]: send is: {"command":"get_lift_state"}



[20240712 10:42:09]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:09]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:09]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:09]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:09]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:09]: send is: {"command":"get_lift_state"}



[20240712 10:42:09]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:09]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:09]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:09]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:09]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:10]: send is: {"command":"get_lift_state"}



[20240712 10:42:10]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:10]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:10]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:10]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:10]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:10]: send is: {"command":"get_lift_state"}



[20240712 10:42:10]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:10]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:10]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:10]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:10]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:11]: send is: {"command":"get_lift_state"}



[20240712 10:42:11]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:11]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:11]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:11]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:11]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:11]: send is: {"command":"get_lift_state"}



[20240712 10:42:11]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:11]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:11]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:11]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:11]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:12]: send is: {"command":"get_lift_state"}



[20240712 10:42:12]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:12]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:12]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:12]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:12]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:13]: send is: {"command":"get_lift_state"}



[20240712 10:42:13]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:13]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:13]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:13]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:13]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:13]: send is: {"command":"get_lift_state"}



[20240712 10:42:13]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:13]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:13]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:13]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:13]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:14]: send is: {"command":"get_lift_state"}



[20240712 10:42:14]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:14]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:14]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:14]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:14]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:14]: send is: {"command":"get_lift_state"}



[20240712 10:42:14]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:14]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:14]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:14]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:14]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:15]: send is: {"command":"get_lift_state"}



[20240712 10:42:15]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:15]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:15]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:15]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:15]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:15]: send is: {"command":"get_lift_state"}



[20240712 10:42:15]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:15]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:15]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:15]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:15]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:16]: send is: {"command":"get_lift_state"}



[20240712 10:42:16]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:16]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:16]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:16]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:16]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:16]: send is: {"command":"get_lift_state"}



[20240712 10:42:16]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:16]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:16]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:16]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:16]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:17]: send is: {"command":"get_lift_state"}



[20240712 10:42:17]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:17]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:17]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:17]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:17]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:17]: send is: {"command":"get_lift_state"}



[20240712 10:42:17]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:17]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:17]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:17]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:17]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:18]: send is: {"command":"get_lift_state"}



[20240712 10:42:18]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:18]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:18]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:18]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:18]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:18]: send is: {"command":"get_lift_state"}



[20240712 10:42:18]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:18]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:18]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:18]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:18]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:19]: send is: {"command":"get_lift_state"}



[20240712 10:42:19]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:19]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:19]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:19]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:19]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:20]: send is: {"command":"get_lift_state"}



[20240712 10:42:20]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:20]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:20]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:20]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:20]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:20]: send is: {"command":"get_lift_state"}



[20240712 10:42:20]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:20]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:20]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:20]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:20]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:21]: send is: {"command":"get_lift_state"}



[20240712 10:42:21]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:21]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:21]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:21]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:21]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:21]: send is: {"command":"get_lift_state"}



[20240712 10:42:21]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:21]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:21]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:21]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:21]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:22]: send is: {"command":"get_lift_state"}



[20240712 10:42:22]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:22]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:22]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:22]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:22]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:22]: send is: {"command":"get_lift_state"}



[20240712 10:42:22]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:22]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:22]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:22]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:22]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:23]: send is: {"command":"get_lift_state"}



[20240712 10:42:23]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:23]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:23]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:23]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:23]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:23]: send is: {"command":"get_lift_state"}



[20240712 10:42:23]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:23]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:23]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:23]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:23]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:24]: send is: {"command":"get_lift_state"}



[20240712 10:42:24]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:24]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:24]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:24]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:24]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:24]: send is: {"command":"get_lift_state"}



[20240712 10:42:25]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:25]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:25]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:25]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:25]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:25]: send is: {"command":"get_lift_state"}



[20240712 10:42:25]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:25]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:25]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:25]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:25]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:26]: send is: {"command":"get_lift_state"}



[20240712 10:42:26]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:26]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:26]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:26]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:26]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:26]: send is: {"command":"get_lift_state"}



[20240712 10:42:26]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:26]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:26]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:26]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:26]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:27]: send is: {"command":"get_lift_state"}



[20240712 10:42:27]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:27]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:27]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:27]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:27]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:27]: send is: {"command":"get_lift_state"}



[20240712 10:42:27]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:27]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:27]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:27]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:27]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:28]: send is: {"command":"get_lift_state"}



[20240712 10:42:28]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:28]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:28]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:28]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:28]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:28]: send is: {"command":"get_lift_state"}



[20240712 10:42:28]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:28]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:28]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:28]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:28]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:29]: send is: {"command":"get_lift_state"}



[20240712 10:42:29]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:29]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:29]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:29]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:29]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:29]: send is: {"command":"get_lift_state"}



[20240712 10:42:29]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:29]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:29]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:29]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:29]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:30]: send is: {"command":"get_lift_state"}



[20240712 10:42:30]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:30]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:30]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:30]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:30]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:30]: send is: {"command":"get_lift_state"}



[20240712 10:42:30]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:30]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:30]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:30]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:30]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:31]: send is: {"command":"get_lift_state"}



[20240712 10:42:31]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:31]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:31]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:31]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:31]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:32]: send is: {"command":"get_lift_state"}



[20240712 10:42:32]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:32]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:32]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:32]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:32]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:32]: send is: {"command":"get_lift_state"}



[20240712 10:42:32]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:32]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:32]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:32]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:32]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:33]: send is: {"command":"get_lift_state"}



[20240712 10:42:33]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:33]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:33]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:33]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:33]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:33]: send is: {"command":"get_lift_state"}



[20240712 10:42:33]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:33]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:33]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:33]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:33]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:34]: send is: {"command":"get_lift_state"}



[20240712 10:42:34]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:34]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:34]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:34]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:34]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:34]: send is: {"command":"get_lift_state"}



[20240712 10:42:34]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:34]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:34]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:34]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:34]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:35]: send is: {"command":"get_lift_state"}



[20240712 10:42:35]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:35]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:35]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:35]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:35]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:35]: send is: {"command":"get_lift_state"}



[20240712 10:42:35]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:35]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:35]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:35]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:35]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:36]: send is: {"command":"get_lift_state"}



[20240712 10:42:36]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:36]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:36]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:36]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:36]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:36]: send is: {"command":"get_lift_state"}



[20240712 10:42:36]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:36]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:36]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:36]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:36]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:37]: send is: {"command":"get_lift_state"}



[20240712 10:42:37]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:37]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:37]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:37]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:37]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:37]: send is: {"command":"get_lift_state"}



[20240712 10:42:37]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:38]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:38]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:38]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:38]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:38]: send is: {"command":"get_lift_state"}



[20240712 10:42:38]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:38]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:38]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:38]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:38]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:39]: send is: {"command":"get_lift_state"}



[20240712 10:42:39]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:39]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:39]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:39]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:39]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:39]: send is: {"command":"get_lift_state"}



[20240712 10:42:39]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:39]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:39]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:39]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:39]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:40]: send is: {"command":"get_lift_state"}



[20240712 10:42:40]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:40]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:40]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:40]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:40]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:42]: send is: {"command":"get_lift_state"}



[20240712 10:42:42]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:42]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:42]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:42]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:42]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:45]: send is: {"command":"get_lift_state"}



[20240712 10:42:45]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:45]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:45]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:45]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:45]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:47]: send is: {"command":"get_lift_state"}



[20240712 10:42:47]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:47]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:47]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:47]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:47]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:48]: send is: {"command":"get_lift_state"}



[20240712 10:42:48]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:48]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:48]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:48]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:48]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:49]: send is: {"command":"get_lift_state"}



[20240712 10:42:49]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:49]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:49]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:49]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:49]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:49]: send is: {"command":"get_lift_state"}



[20240712 10:42:49]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:49]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:49]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:49]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:49]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:50]: send is: {"command":"get_lift_state"}



[20240712 10:42:50]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:50]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:50]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:50]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:50]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:50]: send is: {"command":"get_lift_state"}



[20240712 10:42:50]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:50]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:50]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:50]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:50]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:51]: send is: {"command":"get_lift_state"}



[20240712 10:42:51]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:51]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:51]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:51]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:51]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:51]: send is: {"command":"get_lift_state"}



[20240712 10:42:51]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:51]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:51]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:51]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:51]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:52]: send is: {"command":"get_lift_state"}



[20240712 10:42:52]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:52]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:52]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:52]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:52]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:52]: send is: {"command":"get_lift_state"}



[20240712 10:42:52]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:52]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:52]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:52]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:52]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:53]: send is: {"command":"get_lift_state"}



[20240712 10:42:53]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:53]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:53]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:53]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:53]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:53]: send is: {"command":"get_lift_state"}



[20240712 10:42:53]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:53]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:53]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:53]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:53]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:54]: send is: {"command":"get_lift_state"}



[20240712 10:42:54]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:54]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:54]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:54]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:54]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:55]: send is: {"command":"get_lift_state"}



[20240712 10:42:55]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:55]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:55]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:55]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:55]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:55]: send is: {"command":"get_lift_state"}



[20240712 10:42:55]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:55]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:55]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:55]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:55]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:56]: send is: {"command":"get_lift_state"}



[20240712 10:42:56]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:56]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:56]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:56]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:56]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:56]: send is: {"command":"get_lift_state"}



[20240712 10:42:56]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:56]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:56]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:56]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:56]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:57]: send is: {"command":"get_lift_state"}



[20240712 10:42:57]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:57]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:57]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:57]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:57]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:57]: send is: {"command":"get_lift_state"}



[20240712 10:42:57]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:57]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:57]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:57]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:57]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:58]: send is: {"command":"get_lift_state"}



[20240712 10:42:58]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:58]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:58]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:58]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:58]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:58]: send is: {"command":"get_lift_state"}



[20240712 10:42:58]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:58]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:58]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:58]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:58]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:59]: send is: {"command":"get_lift_state"}



[20240712 10:42:59]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:59]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:59]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:59]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:59]: [rm_get_lift_state] mode parse result: 2

[20240712 10:42:59]: send is: {"command":"get_lift_state"}



[20240712 10:42:59]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:42:59]: [rm_get_lift_state] height parse result: 0

[20240712 10:42:59]: [rm_get_lift_state] current parse result: 0

[20240712 10:42:59]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:42:59]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:00]: send is: {"command":"get_lift_state"}



[20240712 10:43:00]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:00]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:00]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:00]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:00]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:02]: send is: {"command":"get_lift_state"}



[20240712 10:43:02]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:03]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:03]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:03]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:03]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:05]: send is: {"command":"get_lift_state"}



[20240712 10:43:05]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:05]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:05]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:05]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:05]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:07]: send is: {"command":"get_lift_state"}



[20240712 10:43:07]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:07]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:07]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:07]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:07]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:10]: send is: {"command":"get_lift_state"}



[20240712 10:43:10]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:10]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:10]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:10]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:10]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:12]: send is: {"command":"get_lift_state"}



[20240712 10:43:12]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:12]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:12]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:12]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:12]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:15]: send is: {"command":"get_lift_state"}



[20240712 10:43:15]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:15]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:15]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:15]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:15]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:17]: send is: {"command":"get_lift_state"}



[20240712 10:43:17]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:17]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:17]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:17]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:17]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:19]: send is: {"command":"get_lift_state"}



[20240712 10:43:19]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:19]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:19]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:19]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:19]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:19]: send is: {"command":"get_lift_state"}



[20240712 10:43:19]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:19]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:19]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:19]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:19]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:20]: send is: {"command":"get_lift_state"}



[20240712 10:43:20]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:20]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:20]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:20]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:20]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:21]: send is: {"command":"get_lift_state"}



[20240712 10:43:21]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:21]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:21]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:21]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:21]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:21]: send is: {"command":"get_lift_state"}



[20240712 10:43:21]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:21]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:21]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:21]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:21]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:22]: send is: {"command":"get_lift_state"}



[20240712 10:43:22]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:22]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:22]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:22]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:22]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:22]: send is: {"command":"get_lift_state"}



[20240712 10:43:22]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:22]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:22]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:22]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:22]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:23]: send is: {"command":"get_lift_state"}



[20240712 10:43:23]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:23]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:23]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:23]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:23]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:23]: send is: {"command":"get_lift_state"}



[20240712 10:43:23]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:23]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:23]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:23]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:23]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:24]: send is: {"command":"get_lift_state"}



[20240712 10:43:24]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:24]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:24]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:24]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:24]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:24]: send is: {"command":"get_lift_state"}



[20240712 10:43:24]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:24]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:24]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:24]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:24]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:25]: send is: {"command":"get_lift_state"}



[20240712 10:43:25]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:25]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:25]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:25]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:25]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:25]: send is: {"command":"get_lift_state"}



[20240712 10:43:25]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:25]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:25]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:25]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:25]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:26]: send is: {"command":"get_lift_state"}



[20240712 10:43:26]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:26]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:26]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:26]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:26]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:27]: send is: {"command":"get_lift_state"}



[20240712 10:43:27]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:27]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:27]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:27]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:27]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:27]: send is: {"command":"get_lift_state"}



[20240712 10:43:27]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:27]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:27]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:27]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:27]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:28]: send is: {"command":"get_lift_state"}



[20240712 10:43:28]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:28]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:28]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:28]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:28]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:28]: send is: {"command":"get_lift_state"}



[20240712 10:43:28]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:28]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:28]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:28]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:28]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:29]: send is: {"command":"get_lift_state"}



[20240712 10:43:29]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:29]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:29]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:29]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:29]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:31]: send is: {"command":"get_lift_state"}



[20240712 10:43:32]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:32]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:32]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:32]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:32]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:34]: send is: {"command":"get_lift_state"}



[20240712 10:43:34]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:34]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:34]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:34]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:34]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:36]: send is: {"command":"get_lift_state"}



[20240712 10:43:36]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:36]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:36]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:36]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:36]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:39]: send is: {"command":"get_lift_state"}



[20240712 10:43:39]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:39]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:39]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:39]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:39]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:40]: send is: {"command":"get_lift_state"}



[20240712 10:43:40]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:40]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:40]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:40]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:40]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:41]: send is: {"command":"get_lift_state"}



[20240712 10:43:41]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:41]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:41]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:41]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:41]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:41]: send is: {"command":"get_lift_state"}



[20240712 10:43:41]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:41]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:41]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:41]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:41]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:42]: send is: {"command":"get_lift_state"}



[20240712 10:43:42]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:42]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:42]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:42]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:42]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:42]: send is: {"command":"get_lift_state"}



[20240712 10:43:42]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:42]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:42]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:42]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:42]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:43]: send is: {"command":"get_lift_state"}



[20240712 10:43:43]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:43]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:43]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:43]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:43]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:43]: send is: {"command":"get_lift_state"}



[20240712 10:43:43]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:43]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:43]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:43]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:43]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:44]: send is: {"command":"get_lift_state"}



[20240712 10:43:44]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:44]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:44]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:44]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:44]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:44]: send is: {"command":"get_lift_state"}



[20240712 10:43:44]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:44]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:44]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:44]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:44]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:45]: send is: {"command":"get_lift_state"}



[20240712 10:43:45]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:45]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:45]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:45]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:45]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:45]: send is: {"command":"get_lift_state"}



[20240712 10:43:45]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:45]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:45]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:45]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:45]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:46]: send is: {"command":"get_lift_state"}



[20240712 10:43:46]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:46]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:46]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:46]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:46]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:46]: send is: {"command":"get_lift_state"}



[20240712 10:43:46]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:46]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:46]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:46]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:46]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:47]: send is: {"command":"get_lift_state"}



[20240712 10:43:47]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:47]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:47]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:47]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:47]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:48]: send is: {"command":"get_lift_state"}



[20240712 10:43:48]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:48]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:48]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:48]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:48]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:48]: send is: {"command":"get_lift_state"}



[20240712 10:43:48]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:48]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:48]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:48]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:48]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:49]: send is: {"command":"get_lift_state"}



[20240712 10:43:49]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:49]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:49]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:49]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:49]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:49]: send is: {"command":"get_lift_state"}



[20240712 10:43:49]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:49]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:49]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:49]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:49]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:50]: send is: {"command":"get_lift_state"}



[20240712 10:43:50]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:50]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:50]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:50]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:50]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:50]: send is: {"command":"get_lift_state"}



[20240712 10:43:50]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:50]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:50]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:50]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:50]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:51]: send is: {"command":"get_lift_state"}



[20240712 10:43:51]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:51]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:51]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:51]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:51]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:51]: send is: {"command":"get_lift_state"}



[20240712 10:43:51]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:51]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:51]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:51]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:51]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:52]: send is: {"command":"get_lift_state"}



[20240712 10:43:52]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:52]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:52]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:52]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:52]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:52]: send is: {"command":"get_lift_state"}



[20240712 10:43:52]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:52]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:52]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:52]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:52]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:53]: send is: {"command":"get_lift_state"}



[20240712 10:43:53]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:53]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:53]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:53]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:53]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:54]: send is: {"command":"get_lift_state"}



[20240712 10:43:54]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:54]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:54]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:54]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:54]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:54]: send is: {"command":"get_lift_state"}



[20240712 10:43:54]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:54]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:54]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:54]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:54]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:55]: send is: {"command":"get_lift_state"}



[20240712 10:43:55]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:55]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:55]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:55]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:55]: [rm_get_lift_state] mode parse result: 2

[20240712 10:43:55]: send is: {"command":"get_lift_state"}



[20240712 10:43:55]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 10:43:55]: [rm_get_lift_state] height parse result: 0

[20240712 10:43:55]: [rm_get_lift_state] current parse result: 0

[20240712 10:43:55]: [rm_get_lift_state] err_flag parse result: 0

[20240712 10:43:55]: [rm_get_lift_state] mode parse result: 2

[20240712 10:52:15] Begin API Testing.
[20240712 10:52:15]: send is: {"command":"get_arm_software_info"}



[20240712 10:52:15]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.8"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/03 14:19:27","commit_id":"37ec433","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/07/03 14:19:41","commit_id":"768a6d4","version":"V1.5.6"}}

[20240712 10:52:15]: [rm_get_arm_software_info] Product version: RM65-BI

[20240712 10:52:15]: [rm_get_arm_software_info] Algorithm version: 1.3.8

[20240712 10:52:15]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240712 10:52:15]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/03 14:19:27

[20240712 10:52:15]: [rm_get_arm_software_info] Dynamic model version: 2

[20240712 10:52:15]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240712 10:52:15]: [rm_get_arm_software_info] Plan build Time: 2024/07/03 14:19:27

[20240712 10:52:15]: send is: {"command":"get_realtime_push"}



[20240712 10:52:15]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":10,"enable":true,"ip":"192.168.1.6","port":8089}

[20240712 10:52:15]: [rm_get_realtime_push] cycle parse result: 10

[20240712 10:52:15]: [rm_get_realtime_push] port parse result: 8089

[20240712 10:52:15]: [rm_get_realtime_push] ip parse result: 192.168.1.6

[20240712 10:52:15]: [rm_get_realtime_push] enable parse result: 1

[20240712 10:52:15]: send is: {"command":"get_current_work_frame"}



[20240712 10:52:15]: thread_socket_receive len 76 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,1570,0],"state":"current_work_frame"}

[20240712 10:52:15]: [get_current_work_frame] Work frame Name: Base

[20240712 10:52:15]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240712 10:52:15]: send is: {"command":"get_current_tool_frame"}



[20240712 10:52:15]: 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"}

[20240712 10:52:15]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240712 10:52:15]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240712 10:52:15]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240712 10:52:15]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240712 10:52:15]: send is: {"command":"get_install_pose"}



[20240712 10:52:15]: thread_socket_receive len 42 robot_handle: 1 message:{"pose":[0,90,0],"state":"install_pose"}

[20240712 10:52:15]: [rm_get_install_pose] pose parse result:

[20240712 10:52:15]:  0

[20240712 10:52:15]:  90

[20240712 10:52:15]:  0

[20240712 10:52:15]: send is: {"command":"get_joint_min_pos"}



[20240712 10:52:15]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}

[20240712 10:52:15]: [rm_get_joint_min_pos] min_pos parse result:

[20240712 10:52:15]:  -178000

[20240712 10:52:15]:  -130000

[20240712 10:52:15]:  -135000

[20240712 10:52:15]:  -178000

[20240712 10:52:15]:  -128000

[20240712 10:52:15]:  -360000

[20240712 10:52:15]: send is: {"command":"get_joint_max_pos"}



[20240712 10:52:15]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}

[20240712 10:52:15]: [rm_get_joint_max_pos] max_pos parse result:

[20240712 10:52:15]:  178000

[20240712 10:52:15]:  130000

[20240712 10:52:15]:  135000

[20240712 10:52:15]:  178000

[20240712 10:52:15]:  128000

[20240712 10:52:15]:  360000

[20240712 10:52:15]: send is: {"command":"get_joint_max_acc"}



[20240712 10:52:15]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}

[20240712 10:52:15]: [rm_get_joint_max_acc] joint_acc parse result:

[20240712 10:52:15]:  100000

[20240712 10:52:15]:  100000

[20240712 10:52:15]:  100000

[20240712 10:52:15]:  100000

[20240712 10:52:15]:  100000

[20240712 10:52:15]:  100000

[20240712 10:52:15]: send is: {"command":"get_joint_max_speed"}



[20240712 10:52:15]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}

[20240712 10:52:15]: [rm_get_joint_max_speed] joint_speed parse result:

[20240712 10:52:15]:  30000

[20240712 10:52:15]:  30000

[20240712 10:52:15]:  37500

[20240712 10:52:15]:  37500

[20240712 10:52:15]:  37500

[20240712 10:52:15]:  37500

[20240712 10:52:15]: send is: {"command":"set_change_work_frame","frame_name":"Base"}



[20240712 10:52:15]: thread_socket_receive len 62 robot_handle: 1 message:{"change_work_frame":true,"command":"set_change_work_frame"}

[20240712 10:52:15]: [rm_change_work_frame] change_work_frame: true

[20240712 10:52:15]: send is: {"command":"get_current_work_frame"}



[20240712 10:52:15]: thread_socket_receive len 76 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,1570,0],"state":"current_work_frame"}

[20240712 10:52:15]: [get_current_work_frame] Work frame Name: Base

[20240712 10:52:15]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240712 10:53:12]: send is: {"command":"set_gripper_pick_on","speed":500,"force":200,"block":true}



[20240712 10:53:12]: thread_socket_receive len 40 robot_handle: 1 message:{"command":"set_gripper","state":true}

[20240712 10:53:12]: [rm_set_gripper_pick_on] state: true

[20240712 10:53:13]: thread_socket_receive len 96 robot_handle: 1 message:{"device":1,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 10:53:13]: Move command result is: true, current Device: 1, trajectory_connect: 0

[20240712 10:53:46]: send is: {"command":"set_gripper_release","speed":500,"block":true}



[20240712 10:53:46]: thread_socket_receive len 40 robot_handle: 1 message:{"command":"set_gripper","state":true}

[20240712 10:53:46]: [rm_set_gripper_release] state: true

[20240712 10:53:48]: thread_socket_receive len 96 robot_handle: 1 message:{"device":1,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 10:53:48]: Move command result is: true, current Device: 1, trajectory_connect: 0

[20240712 10:55:16] Begin API Testing.
[20240712 10:55:16]: send is: {"command":"get_arm_software_info"}



[20240712 10:55:16]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.8"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/03 14:19:27","commit_id":"37ec433","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/07/03 14:19:41","commit_id":"768a6d4","version":"V1.5.6"}}

[20240712 10:55:16]: [rm_get_arm_software_info] Product version: RM65-BI

[20240712 10:55:16]: [rm_get_arm_software_info] Algorithm version: 1.3.8

[20240712 10:55:16]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240712 10:55:16]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/03 14:19:27

[20240712 10:55:16]: [rm_get_arm_software_info] Dynamic model version: 2

[20240712 10:55:16]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240712 10:55:16]: [rm_get_arm_software_info] Plan build Time: 2024/07/03 14:19:27

[20240712 10:55:16]: send is: {"command":"get_realtime_push"}



[20240712 10:55:16]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":10,"enable":true,"ip":"192.168.1.6","port":8089}

[20240712 10:55:16]: [rm_get_realtime_push] cycle parse result: 10

[20240712 10:55:16]: [rm_get_realtime_push] port parse result: 8089

[20240712 10:55:16]: [rm_get_realtime_push] ip parse result: 192.168.1.6

[20240712 10:55:16]: [rm_get_realtime_push] enable parse result: 1

[20240712 10:55:16]: send is: {"command":"get_current_work_frame"}



[20240712 10:55:16]: thread_socket_receive len 76 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,1570,0],"state":"current_work_frame"}

[20240712 10:55:16]: [get_current_work_frame] Work frame Name: Base

[20240712 10:55:16]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240712 10:55:16]: send is: {"command":"get_current_tool_frame"}



[20240712 10:55:16]: 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"}

[20240712 10:55:16]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240712 10:55:16]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240712 10:55:16]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240712 10:55:16]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240712 10:55:16]: send is: {"command":"get_install_pose"}



[20240712 10:55:16]: thread_socket_receive len 42 robot_handle: 1 message:{"pose":[0,90,0],"state":"install_pose"}

[20240712 10:55:16]: [rm_get_install_pose] pose parse result:

[20240712 10:55:16]:  0

[20240712 10:55:16]:  90

[20240712 10:55:16]:  0

[20240712 10:55:16]: send is: {"command":"get_joint_min_pos"}



[20240712 10:55:16]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}

[20240712 10:55:16]: [rm_get_joint_min_pos] min_pos parse result:

[20240712 10:55:16]:  -178000

[20240712 10:55:16]:  -130000

[20240712 10:55:16]:  -135000

[20240712 10:55:16]:  -178000

[20240712 10:55:16]:  -128000

[20240712 10:55:16]:  -360000

[20240712 10:55:16]: send is: {"command":"get_joint_max_pos"}



[20240712 10:55:16]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}

[20240712 10:55:16]: [rm_get_joint_max_pos] max_pos parse result:

[20240712 10:55:16]:  178000

[20240712 10:55:16]:  130000

[20240712 10:55:16]:  135000

[20240712 10:55:16]:  178000

[20240712 10:55:16]:  128000

[20240712 10:55:16]:  360000

[20240712 10:55:16]: send is: {"command":"get_joint_max_acc"}



[20240712 10:55:16]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}

[20240712 10:55:16]: [rm_get_joint_max_acc] joint_acc parse result:

[20240712 10:55:16]:  100000

[20240712 10:55:16]:  100000

[20240712 10:55:16]:  100000

[20240712 10:55:16]:  100000

[20240712 10:55:16]:  100000

[20240712 10:55:16]:  100000

[20240712 10:55:16]: send is: {"command":"get_joint_max_speed"}



[20240712 10:55:16]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}

[20240712 10:55:16]: [rm_get_joint_max_speed] joint_speed parse result:

[20240712 10:55:16]:  30000

[20240712 10:55:16]:  30000

[20240712 10:55:16]:  37500

[20240712 10:55:16]:  37500

[20240712 10:55:16]:  37500

[20240712 10:55:16]:  37500

[20240712 10:55:16]: send is: {"command":"set_change_work_frame","frame_name":"Base"}



[20240712 10:55:16]: thread_socket_receive len 62 robot_handle: 1 message:{"change_work_frame":true,"command":"set_change_work_frame"}

[20240712 10:55:16]: [rm_change_work_frame] change_work_frame: true

[20240712 10:55:16]: send is: {"command":"get_current_work_frame"}



[20240712 10:55:16]: thread_socket_receive len 76 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,1570,0],"state":"current_work_frame"}

[20240712 10:55:16]: [get_current_work_frame] Work frame Name: Base

[20240712 10:55:16]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240712 10:55:16]: send is: {"command":"set_gripper_pick_on","speed":500,"force":200,"block":true}



[20240712 10:55:16]: thread_socket_receive len 40 robot_handle: 1 message:{"command":"set_gripper","state":true}

[20240712 10:55:16]: [rm_set_gripper_pick_on] state: true

[20240712 10:55:18]: thread_socket_receive len 96 robot_handle: 1 message:{"device":1,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 10:55:18]: Move command result is: true, current Device: 1, trajectory_connect: 0

[20240712 10:55:20]: send is: {"command":"set_gripper_release","speed":500,"block":true}



[20240712 10:55:20]: thread_socket_receive len 40 robot_handle: 1 message:{"command":"set_gripper","state":true}

[20240712 10:55:20]: [rm_set_gripper_release] state: true

[20240712 10:55:21]: thread_socket_receive len 96 robot_handle: 1 message:{"device":1,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 10:55:21]: Move command result is: true, current Device: 1, trajectory_connect: 0

[20240712 11:02:20] Begin API Testing.
[20240712 11:02:20]: send is: {"command":"get_arm_software_info"}



[20240712 11:02:20]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.8"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/03 14:19:27","commit_id":"37ec433","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/07/03 14:19:41","commit_id":"768a6d4","version":"V1.5.6"}}

[20240712 11:02:20]: [rm_get_arm_software_info] Product version: RM65-BI

[20240712 11:02:20]: [rm_get_arm_software_info] Algorithm version: 1.3.8

[20240712 11:02:20]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240712 11:02:20]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/03 14:19:27

[20240712 11:02:20]: [rm_get_arm_software_info] Dynamic model version: 2

[20240712 11:02:20]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240712 11:02:20]: [rm_get_arm_software_info] Plan build Time: 2024/07/03 14:19:27

[20240712 11:02:20]: send is: {"command":"get_realtime_push"}



[20240712 11:02:20]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":10,"enable":true,"ip":"192.168.1.6","port":8089}

[20240712 11:02:20]: [rm_get_realtime_push] cycle parse result: 10

[20240712 11:02:20]: [rm_get_realtime_push] port parse result: 8089

[20240712 11:02:20]: [rm_get_realtime_push] ip parse result: 192.168.1.6

[20240712 11:02:20]: [rm_get_realtime_push] enable parse result: 1

[20240712 11:02:20]: send is: {"command":"get_current_work_frame"}



[20240712 11:02:20]: thread_socket_receive len 76 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,1570,0],"state":"current_work_frame"}

[20240712 11:02:20]: [get_current_work_frame] Work frame Name: Base

[20240712 11:02:20]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240712 11:02:20]: send is: {"command":"get_current_tool_frame"}



[20240712 11:02:20]: 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"}

[20240712 11:02:20]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240712 11:02:20]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240712 11:02:20]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240712 11:02:20]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240712 11:02:20]: send is: {"command":"get_install_pose"}



[20240712 11:02:20]: thread_socket_receive len 42 robot_handle: 1 message:{"pose":[0,90,0],"state":"install_pose"}

[20240712 11:02:20]: [rm_get_install_pose] pose parse result:

[20240712 11:02:20]:  0

[20240712 11:02:20]:  90

[20240712 11:02:20]:  0

[20240712 11:02:20]: send is: {"command":"get_joint_min_pos"}



[20240712 11:02:20]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}

[20240712 11:02:20]: [rm_get_joint_min_pos] min_pos parse result:

[20240712 11:02:20]:  -178000

[20240712 11:02:20]:  -130000

[20240712 11:02:20]:  -135000

[20240712 11:02:20]:  -178000

[20240712 11:02:20]:  -128000

[20240712 11:02:20]:  -360000

[20240712 11:02:20]: send is: {"command":"get_joint_max_pos"}



[20240712 11:02:20]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}

[20240712 11:02:20]: [rm_get_joint_max_pos] max_pos parse result:

[20240712 11:02:20]:  178000

[20240712 11:02:20]:  130000

[20240712 11:02:20]:  135000

[20240712 11:02:20]:  178000

[20240712 11:02:20]:  128000

[20240712 11:02:20]:  360000

[20240712 11:02:20]: send is: {"command":"get_joint_max_acc"}



[20240712 11:02:20]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}

[20240712 11:02:20]: [rm_get_joint_max_acc] joint_acc parse result:

[20240712 11:02:20]:  100000

[20240712 11:02:20]:  100000

[20240712 11:02:20]:  100000

[20240712 11:02:20]:  100000

[20240712 11:02:20]:  100000

[20240712 11:02:20]:  100000

[20240712 11:02:20]: send is: {"command":"get_joint_max_speed"}



[20240712 11:02:20]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}

[20240712 11:02:20]: [rm_get_joint_max_speed] joint_speed parse result:

[20240712 11:02:20]:  30000

[20240712 11:02:20]:  30000

[20240712 11:02:20]:  37500

[20240712 11:02:20]:  37500

[20240712 11:02:20]:  37500

[20240712 11:02:20]:  37500

[20240712 11:02:20]: send is: {"command":"set_change_work_frame","frame_name":"Base"}



[20240712 11:02:20]: thread_socket_receive len 62 robot_handle: 1 message:{"change_work_frame":true,"command":"set_change_work_frame"}

[20240712 11:02:20]: [rm_change_work_frame] change_work_frame: true

[20240712 11:02:20]: send is: {"command":"get_current_work_frame"}



[20240712 11:02:20]: thread_socket_receive len 76 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,1570,0],"state":"current_work_frame"}

[20240712 11:02:20]: [get_current_work_frame] Work frame Name: Base

[20240712 11:02:20]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240712 11:02:20]: send is: {"command":"set_lift_height","speed":20,"height":500}



[20240712 11:02:20]: send is: {"command":"movej_p","v":20,"pose":[100000,0,700000,0,0,3141],"trajectory_connect":0,"r":0}



[20240712 11:02:20]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}

[20240712 11:02:20]: [rm_movej_p] receive_state: true

[20240712 11:02:20]: send is: {"command":"get_arm_current_trajectory"}



[20240712 11:02:20]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 11:02:20]: i is 0 command is current_trajectory_state

[20240712 11:02:20]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[-1,-56965,90050,2,-33089,-30],"state":"arm_current_trajectory","type":"none"}

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-1, -56965, 90050, 2, -33089, -30, 40)

[20240712 11:02:21]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 11:02:21]: [rm_get_arm_current_trajectory] Joint Angles: -0.001, -56.965, 90.050, 0.002, -33.089, -0.030

[20240712 11:02:21]: send is: {"command":"get_arm_current_trajectory"}



[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: thread_socket_receive len 87 robot_handle: 1 message:{"data":[0,-56965,90052,1,-33082,-31],"state":"arm_current_trajectory","type":"none"}

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (0, -56965, 90052, 1, -33082, -31, 40)

[20240712 11:02:21]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 11:02:21]: [rm_get_arm_current_trajectory] Joint Angles: 0.000, -56.965, 90.052, 0.001, -33.082, -0.031

[20240712 11:02:21]: send is: {"command":"get_arm_current_trajectory"}



[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: thread_socket_receive len 87 robot_handle: 1 message:{"data":[0,-56965,90052,2,-33081,-31],"state":"arm_current_trajectory","type":"none"}

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (0, -56965, 90052, 2, -33081, -31, 40)

[20240712 11:02:21]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 11:02:21]: [rm_get_arm_current_trajectory] Joint Angles: 0.000, -56.965, 90.052, 0.002, -33.081, -0.031

[20240712 11:02:21]: send is: {"command":"get_arm_current_trajectory"}



[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: thread_socket_receive len 87 robot_handle: 1 message:{"data":[0,-56965,90052,1,-33078,-31],"state":"arm_current_trajectory","type":"none"}

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (0, -56965, 90052, 1, -33078, -31, 40)

[20240712 11:02:21]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 11:02:21]: [rm_get_arm_current_trajectory] Joint Angles: 0.000, -56.965, 90.052, 0.001, -33.078, -0.031

[20240712 11:02:21]: send is: {"command":"get_arm_current_trajectory"}



[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: thread_socket_receive len 87 robot_handle: 1 message:{"data":[0,-56966,90052,1,-33078,-31],"state":"arm_current_trajectory","type":"none"}

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (0, -56966, 90052, 1, -33078, -31, 40)

[20240712 11:02:21]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 11:02:21]: [rm_get_arm_current_trajectory] Joint Angles: 0.000, -56.966, 90.052, 0.001, -33.078, -0.031

[20240712 11:02:21]: send is: {"command":"get_arm_current_trajectory"}



[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[-1,-56966,90050,2,-33077,-31],"state":"arm_current_trajectory","type":"none"}

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-1, -56966, 90050, 2, -33077, -31, 40)

[20240712 11:02:21]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 11:02:21]: [rm_get_arm_current_trajectory] Joint Angles: -0.001, -56.966, 90.050, 0.002, -33.077, -0.031

[20240712 11:02:21]: send is: {"command":"get_arm_current_trajectory"}



[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: thread_socket_receive len 87 robot_handle: 1 message:{"data":[0,-56966,90050,2,-33078,-32],"state":"arm_current_trajectory","type":"none"}

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (0, -56966, 90050, 2, -33078, -32, 40)

[20240712 11:02:21]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 11:02:21]: [rm_get_arm_current_trajectory] Joint Angles: 0.000, -56.966, 90.050, 0.002, -33.078, -0.032

[20240712 11:02:21]: send is: {"command":"get_arm_current_trajectory"}



[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: thread_socket_receive len 87 robot_handle: 1 message:{"data":[0,-56966,90053,1,-33078,-32],"state":"arm_current_trajectory","type":"none"}

[20240712 11:02:21]: i is 0 command is current_trajectory_state

[20240712 11:02:21]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (0, -56966, 90053, 1, -33078, -32, 40)

[20240712 11:02:21]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 11:02:21]: [rm_get_arm_current_trajectory] Joint Angles: 0.000, -56.966, 90.053, 0.001, -33.078, -0.032

[20240712 11:02:22]: send is: {"command":"get_arm_current_trajectory"}



[20240712 11:02:22]: i is 0 command is current_trajectory_state

[20240712 11:02:22]: i is 0 command is current_trajectory_state

[20240712 11:02:22]: i is 0 command is current_trajectory_state

[20240712 11:02:22]: i is 0 command is current_trajectory_state

[20240712 11:02:22]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[-1,-56968,90052,2,-33078,-32],"state":"arm_current_trajectory","type":"none"}

[20240712 11:02:22]: i is 0 command is current_trajectory_state

[20240712 11:02:22]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (-1, -56968, 90052, 2, -33078, -32, 40)

[20240712 11:02:22]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 11:02:22]: [rm_get_arm_current_trajectory] Joint Angles: -0.001, -56.968, 90.052, 0.002, -33.078, -0.032

[20240712 11:02:22]: send is: {"command":"get_arm_current_trajectory"}



[20240712 11:02:22]: i is 0 command is current_trajectory_state

[20240712 11:02:22]: i is 0 command is current_trajectory_state

[20240712 11:02:22]: i is 0 command is current_trajectory_state

[20240712 11:02:22]: i is 0 command is current_trajectory_state

[20240712 11:02:22]: thread_socket_receive len 87 robot_handle: 1 message:{"data":[0,-56966,90050,1,-33078,-32],"state":"arm_current_trajectory","type":"none"}

[20240712 11:02:22]: i is 0 command is current_trajectory_state

[20240712 11:02:22]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (0, -56966, 90050, 1, -33078, -32, 40)

[20240712 11:02:22]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 11:02:22]: [rm_get_arm_current_trajectory] Joint Angles: 0.000, -56.966, 90.050, 0.001, -33.078, -0.032

[20240712 11:02:22]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 11:02:22]: send is: {"command":"movel","v":20,"pose":[100000,0,800000,0,0,3141],"trajectory_connect":0,"r":0}



[20240712 11:02:22]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}

[20240712 11:02:22]: [rm_movel] receive_state: true

[20240712 11:02:22]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 11:02:22]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 11:02:22]: send is: {"command":"set_gripper_pick_on","speed":500,"force":200,"block":true}



[20240712 11:02:22]: thread_socket_receive len 40 robot_handle: 1 message:{"command":"set_gripper","state":true}

[20240712 11:02:22]: [rm_set_gripper_pick_on] state: true

[20240712 11:02:24]: thread_socket_receive len 96 robot_handle: 1 message:{"device":1,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 11:02:24]: Move command result is: true, current Device: 1, trajectory_connect: 0

[20240712 11:02:26]: send is: {"command":"movel","v":20,"pose":[100000,0,700000,0,0,3141],"trajectory_connect":0,"r":0}



[20240712 11:02:26]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}

[20240712 11:02:26]: [rm_movel] receive_state: true

[20240712 11:02:26]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 11:02:26]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 11:02:26]: send is: {"command":"set_lift_height","speed":20,"height":200}



[20240712 11:02:27]: send is: {"command":"get_lift_state"}



[20240712 11:02:27]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:27]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:27]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:27]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:27]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:28]: send is: {"command":"get_lift_state"}



[20240712 11:02:28]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:28]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:28]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:28]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:28]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:29]: send is: {"command":"get_lift_state"}



[20240712 11:02:29]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:29]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:29]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:29]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:29]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:30]: send is: {"command":"get_lift_state"}



[20240712 11:02:30]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:30]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:30]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:30]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:30]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:31]: send is: {"command":"get_lift_state"}



[20240712 11:02:31]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:31]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:31]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:31]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:31]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:32]: send is: {"command":"get_lift_state"}



[20240712 11:02:32]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:32]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:32]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:32]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:32]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:33]: send is: {"command":"get_lift_state"}



[20240712 11:02:33]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:33]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:33]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:33]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:33]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:33]: send is: {"command":"get_lift_state"}



[20240712 11:02:33]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:33]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:33]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:33]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:33]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:34]: send is: {"command":"get_lift_state"}



[20240712 11:02:34]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:34]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:34]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:34]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:34]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:35]: send is: {"command":"get_lift_state"}



[20240712 11:02:35]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:35]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:35]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:35]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:35]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:36]: send is: {"command":"get_lift_state"}



[20240712 11:02:36]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:36]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:36]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:36]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:36]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:37]: send is: {"command":"get_lift_state"}



[20240712 11:02:37]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:37]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:37]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:37]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:37]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:38]: send is: {"command":"get_lift_state"}



[20240712 11:02:38]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:38]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:38]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:38]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:38]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:39]: send is: {"command":"get_lift_state"}



[20240712 11:02:39]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:39]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:39]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:39]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:39]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:39]: send is: {"command":"get_lift_state"}



[20240712 11:02:39]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:39]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:39]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:39]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:39]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:40]: send is: {"command":"get_lift_state"}



[20240712 11:02:40]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:40]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:40]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:40]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:40]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:41]: send is: {"command":"get_lift_state"}



[20240712 11:02:41]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:41]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:41]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:41]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:41]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:42]: send is: {"command":"get_lift_state"}



[20240712 11:02:42]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:42]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:42]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:42]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:42]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:43]: send is: {"command":"get_lift_state"}



[20240712 11:02:43]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:43]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:43]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:43]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:43]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:44]: send is: {"command":"get_lift_state"}



[20240712 11:02:44]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:44]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:44]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:44]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:44]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:45]: send is: {"command":"get_lift_state"}



[20240712 11:02:45]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:45]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:45]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:45]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:45]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:45]: send is: {"command":"get_lift_state"}



[20240712 11:02:45]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:45]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:45]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:45]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:45]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:46]: send is: {"command":"get_lift_state"}



[20240712 11:02:46]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:46]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:46]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:46]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:46]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:47]: send is: {"command":"get_lift_state"}



[20240712 11:02:47]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:47]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:47]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:47]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:47]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:48]: send is: {"command":"get_lift_state"}



[20240712 11:02:48]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:48]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:48]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:48]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:48]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:49]: send is: {"command":"get_lift_state"}



[20240712 11:02:49]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:49]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:49]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:49]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:49]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:50]: send is: {"command":"get_lift_state"}



[20240712 11:02:50]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:50]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:50]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:50]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:50]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:51]: send is: {"command":"get_lift_state"}



[20240712 11:02:51]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:51]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:51]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:51]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:51]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:51]: send is: {"command":"get_lift_state"}



[20240712 11:02:51]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:51]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:51]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:51]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:51]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:52]: send is: {"command":"get_lift_state"}



[20240712 11:02:52]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:52]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:52]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:52]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:52]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:53]: send is: {"command":"get_lift_state"}



[20240712 11:02:53]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:53]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:53]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:53]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:53]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:54]: send is: {"command":"get_lift_state"}



[20240712 11:02:54]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:54]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:54]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:54]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:54]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:55]: send is: {"command":"get_lift_state"}



[20240712 11:02:55]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:55]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:55]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:55]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:55]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:56]: send is: {"command":"get_lift_state"}



[20240712 11:02:56]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:56]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:56]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:56]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:56]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:57]: send is: {"command":"get_lift_state"}



[20240712 11:02:57]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:57]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:57]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:57]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:57]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:57]: send is: {"command":"get_lift_state"}



[20240712 11:02:57]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:57]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:57]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:57]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:57]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:58]: send is: {"command":"get_lift_state"}



[20240712 11:02:58]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:58]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:58]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:58]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:58]: [rm_get_lift_state] mode parse result: 2

[20240712 11:02:59]: send is: {"command":"get_lift_state"}



[20240712 11:02:59]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:02:59]: [rm_get_lift_state] height parse result: 0

[20240712 11:02:59]: [rm_get_lift_state] current parse result: 0

[20240712 11:02:59]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:02:59]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:00]: send is: {"command":"get_lift_state"}



[20240712 11:03:00]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:00]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:00]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:00]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:00]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:01]: send is: {"command":"get_lift_state"}



[20240712 11:03:01]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:01]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:01]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:01]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:01]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:02]: send is: {"command":"get_lift_state"}



[20240712 11:03:02]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:02]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:02]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:02]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:02]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:03]: send is: {"command":"get_lift_state"}



[20240712 11:03:03]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:03]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:03]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:03]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:03]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:03]: send is: {"command":"get_lift_state"}



[20240712 11:03:03]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:03]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:03]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:03]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:03]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:04]: send is: {"command":"get_lift_state"}



[20240712 11:03:04]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:04]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:04]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:04]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:04]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:05]: send is: {"command":"get_lift_state"}



[20240712 11:03:05]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:05]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:05]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:05]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:05]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:06]: send is: {"command":"get_lift_state"}



[20240712 11:03:06]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:06]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:06]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:06]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:06]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:07]: send is: {"command":"get_lift_state"}



[20240712 11:03:07]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:07]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:07]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:07]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:07]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:08]: send is: {"command":"get_lift_state"}



[20240712 11:03:08]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:08]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:08]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:08]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:08]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:08]: send is: {"command":"get_lift_state"}



[20240712 11:03:08]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:08]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:08]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:08]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:08]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:09]: send is: {"command":"get_lift_state"}



[20240712 11:03:09]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:09]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:09]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:09]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:09]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:10]: send is: {"command":"get_lift_state"}



[20240712 11:03:10]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:10]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:10]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:10]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:10]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:11]: send is: {"command":"get_lift_state"}



[20240712 11:03:11]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:11]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:11]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:11]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:11]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:12]: send is: {"command":"get_lift_state"}



[20240712 11:03:12]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:12]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:12]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:12]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:12]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:13]: send is: {"command":"get_lift_state"}



[20240712 11:03:13]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:13]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:13]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:13]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:13]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:13]: send is: {"command":"get_lift_state"}



[20240712 11:03:13]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:13]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:13]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:13]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:14]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:14]: send is: {"command":"get_lift_state"}



[20240712 11:03:14]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:14]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:14]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:14]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:14]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:15]: send is: {"command":"get_lift_state"}



[20240712 11:03:15]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:15]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:15]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:15]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:15]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:16]: send is: {"command":"get_lift_state"}



[20240712 11:03:16]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:16]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:16]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:16]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:16]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:17]: send is: {"command":"get_lift_state"}



[20240712 11:03:17]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:17]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:17]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:17]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:17]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:18]: send is: {"command":"get_lift_state"}



[20240712 11:03:18]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:18]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:18]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:18]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:18]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:19]: send is: {"command":"get_lift_state"}



[20240712 11:03:19]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:19]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:19]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:19]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:19]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:19]: send is: {"command":"get_lift_state"}



[20240712 11:03:19]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:19]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:19]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:19]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:19]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:20]: send is: {"command":"get_lift_state"}



[20240712 11:03:20]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:20]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:20]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:20]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:20]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:21]: send is: {"command":"get_lift_state"}



[20240712 11:03:21]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:21]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:21]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:21]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:21]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:22]: send is: {"command":"get_lift_state"}



[20240712 11:03:22]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:22]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:22]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:22]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:22]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:23]: send is: {"command":"get_lift_state"}



[20240712 11:03:23]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:23]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:23]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:23]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:23]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:24]: send is: {"command":"get_lift_state"}



[20240712 11:03:24]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:24]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:24]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:24]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:24]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:28]: send is: {"command":"get_lift_state"}



[20240712 11:03:28]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:28]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:28]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:28]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:28]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:32]: send is: {"command":"get_lift_state"}



[20240712 11:03:32]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:32]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:32]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:32]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:32]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:36]: send is: {"command":"get_lift_state"}



[20240712 11:03:36]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:36]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:36]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:36]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:36]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:38]: send is: {"command":"get_lift_state"}



[20240712 11:03:38]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:38]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:38]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:38]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:38]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:39]: send is: {"command":"get_lift_state"}



[20240712 11:03:39]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:39]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:39]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:39]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:39]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:39]: send is: {"command":"get_lift_state"}



[20240712 11:03:39]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:39]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:39]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:39]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:39]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:40]: send is: {"command":"get_lift_state"}



[20240712 11:03:40]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:40]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:40]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:40]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:40]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:41]: send is: {"command":"get_lift_state"}



[20240712 11:03:41]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:41]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:41]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:41]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:41]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:42]: send is: {"command":"get_lift_state"}



[20240712 11:03:42]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:42]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:42]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:42]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:42]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:43]: send is: {"command":"get_lift_state"}



[20240712 11:03:43]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:43]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:43]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:43]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:43]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:44]: send is: {"command":"get_lift_state"}



[20240712 11:03:44]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:44]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:44]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:44]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:44]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:45]: send is: {"command":"get_lift_state"}



[20240712 11:03:45]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:45]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:45]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:45]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:45]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:45]: send is: {"command":"get_lift_state"}



[20240712 11:03:45]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:45]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:45]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:45]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:45]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:46]: send is: {"command":"get_lift_state"}



[20240712 11:03:46]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:46]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:46]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:46]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:46]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:47]: send is: {"command":"get_lift_state"}



[20240712 11:03:47]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:47]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:47]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:47]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:47]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:48]: send is: {"command":"get_lift_state"}



[20240712 11:03:48]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:48]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:48]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:48]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:48]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:49]: send is: {"command":"get_lift_state"}



[20240712 11:03:49]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:49]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:49]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:49]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:49]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:50]: send is: {"command":"get_lift_state"}



[20240712 11:03:50]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:50]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:50]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:50]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:50]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:51]: send is: {"command":"get_lift_state"}



[20240712 11:03:51]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:51]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:51]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:51]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:51]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:51]: send is: {"command":"get_lift_state"}



[20240712 11:03:51]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:51]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:51]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:51]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:51]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:52]: send is: {"command":"get_lift_state"}



[20240712 11:03:52]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:52]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:52]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:52]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:52]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:53]: send is: {"command":"get_lift_state"}



[20240712 11:03:53]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:53]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:53]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:53]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:53]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:54]: send is: {"command":"get_lift_state"}



[20240712 11:03:54]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:54]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:54]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:54]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:54]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:55]: send is: {"command":"get_lift_state"}



[20240712 11:03:55]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:55]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:55]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:55]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:55]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:56]: send is: {"command":"get_lift_state"}



[20240712 11:03:56]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:56]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:56]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:56]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:56]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:57]: send is: {"command":"get_lift_state"}



[20240712 11:03:57]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:57]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:57]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:57]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:57]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:57]: send is: {"command":"get_lift_state"}



[20240712 11:03:57]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:57]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:57]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:57]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:57]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:58]: send is: {"command":"get_lift_state"}



[20240712 11:03:58]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:58]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:58]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:58]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:58]: [rm_get_lift_state] mode parse result: 2

[20240712 11:03:59]: send is: {"command":"get_lift_state"}



[20240712 11:03:59]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:03:59]: [rm_get_lift_state] height parse result: 0

[20240712 11:03:59]: [rm_get_lift_state] current parse result: 0

[20240712 11:03:59]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:03:59]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:00]: send is: {"command":"get_lift_state"}



[20240712 11:04:00]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:00]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:00]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:00]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:00]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:01]: send is: {"command":"get_lift_state"}



[20240712 11:04:01]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:01]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:01]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:01]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:01]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:02]: send is: {"command":"get_lift_state"}



[20240712 11:04:02]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:02]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:02]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:02]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:02]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:03]: send is: {"command":"get_lift_state"}



[20240712 11:04:03]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:03]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:03]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:03]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:03]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:03]: send is: {"command":"get_lift_state"}



[20240712 11:04:03]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:03]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:03]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:03]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:03]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:04]: send is: {"command":"get_lift_state"}



[20240712 11:04:04]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:04]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:04]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:04]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:04]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:05]: send is: {"command":"get_lift_state"}



[20240712 11:04:05]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:05]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:05]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:05]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:05]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:06]: send is: {"command":"get_lift_state"}



[20240712 11:04:06]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:06]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:06]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:06]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:06]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:07]: send is: {"command":"get_lift_state"}



[20240712 11:04:07]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:07]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:07]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:07]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:07]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:08]: send is: {"command":"get_lift_state"}



[20240712 11:04:08]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:08]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:08]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:08]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:08]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:09]: send is: {"command":"get_lift_state"}



[20240712 11:04:09]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:09]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:09]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:09]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:09]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:09]: send is: {"command":"get_lift_state"}



[20240712 11:04:09]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:09]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:09]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:09]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:09]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:10]: send is: {"command":"get_lift_state"}



[20240712 11:04:10]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:10]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:10]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:10]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:10]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:11]: send is: {"command":"get_lift_state"}



[20240712 11:04:11]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:11]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:11]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:11]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:11]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:12]: send is: {"command":"get_lift_state"}



[20240712 11:04:12]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:12]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:12]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:12]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:12]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:13]: send is: {"command":"get_lift_state"}



[20240712 11:04:13]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:13]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:13]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:13]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:13]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:14]: send is: {"command":"get_lift_state"}



[20240712 11:04:14]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:14]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:14]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:14]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:14]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:15]: send is: {"command":"get_lift_state"}



[20240712 11:04:15]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:15]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:15]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:15]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:15]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:15]: send is: {"command":"get_lift_state"}



[20240712 11:04:15]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:15]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:15]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:15]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:15]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:16]: send is: {"command":"get_lift_state"}



[20240712 11:04:16]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:16]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:16]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:16]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:16]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:17]: send is: {"command":"get_lift_state"}



[20240712 11:04:17]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:17]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:17]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:17]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:17]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:18]: send is: {"command":"get_lift_state"}



[20240712 11:04:18]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:18]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:18]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:18]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:18]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:19]: send is: {"command":"get_lift_state"}



[20240712 11:04:19]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:19]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:19]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:19]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:19]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:20]: send is: {"command":"get_lift_state"}



[20240712 11:04:20]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:20]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:20]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:20]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:20]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:21]: send is: {"command":"get_lift_state"}



[20240712 11:04:21]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:21]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:21]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:21]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:21]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:21]: send is: {"command":"get_lift_state"}



[20240712 11:04:21]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:21]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:21]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:21]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:21]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:22]: send is: {"command":"get_lift_state"}



[20240712 11:04:22]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:22]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:22]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:22]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:22]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:23]: send is: {"command":"get_lift_state"}



[20240712 11:04:23]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:23]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:23]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:23]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:23]: [rm_get_lift_state] mode parse result: 2

[20240712 11:04:24]: send is: {"command":"get_lift_state"}



[20240712 11:04:24]: thread_socket_receive len 94 robot_handle: 1 message:{"current":0,"en_flag":0,"err_flag":0,"height":0,"joint_id":0,"mode":2,"state":"lift_state"}

[20240712 11:04:24]: [rm_get_lift_state] height parse result: 0

[20240712 11:04:24]: [rm_get_lift_state] current parse result: 0

[20240712 11:04:24]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:04:24]: [rm_get_lift_state] mode parse result: 2

[20240712 11:22:05] Begin API Testing.
[20240712 11:22:05]: send is: {"command":"get_arm_software_info"}



[20240712 11:22:06]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.8"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/03 14:19:27","commit_id":"37ec433","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/07/03 14:19:41","commit_id":"768a6d4","version":"V1.5.6"}}

[20240712 11:22:06]: [rm_get_arm_software_info] Product version: RM65-BI

[20240712 11:22:06]: [rm_get_arm_software_info] Algorithm version: 1.3.8

[20240712 11:22:06]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240712 11:22:06]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/03 14:19:27

[20240712 11:22:06]: [rm_get_arm_software_info] Dynamic model version: 2

[20240712 11:22:06]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240712 11:22:06]: [rm_get_arm_software_info] Plan build Time: 2024/07/03 14:19:27

[20240712 11:22:06]: send is: {"command":"get_realtime_push"}



[20240712 11:22:06]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":10,"enable":true,"ip":"192.168.1.6","port":8089}

[20240712 11:22:06]: [rm_get_realtime_push] cycle parse result: 10

[20240712 11:22:06]: [rm_get_realtime_push] port parse result: 8089

[20240712 11:22:06]: [rm_get_realtime_push] ip parse result: 192.168.1.6

[20240712 11:22:06]: [rm_get_realtime_push] enable parse result: 1

[20240712 11:22:06]: send is: {"command":"get_current_work_frame"}



[20240712 11:22:06]: thread_socket_receive len 76 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,1570,0],"state":"current_work_frame"}

[20240712 11:22:06]: [get_current_work_frame] Work frame Name: Base

[20240712 11:22:06]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240712 11:22:06]: send is: {"command":"get_current_tool_frame"}



[20240712 11:22:06]: 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"}

[20240712 11:22:06]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240712 11:22:06]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240712 11:22:06]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240712 11:22:06]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240712 11:22:06]: send is: {"command":"get_install_pose"}



[20240712 11:22:06]: thread_socket_receive len 42 robot_handle: 1 message:{"pose":[0,90,0],"state":"install_pose"}

[20240712 11:22:06]: [rm_get_install_pose] pose parse result:

[20240712 11:22:06]:  0

[20240712 11:22:06]:  90

[20240712 11:22:06]:  0

[20240712 11:22:06]: send is: {"command":"get_joint_min_pos"}



[20240712 11:22:06]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}

[20240712 11:22:06]: [rm_get_joint_min_pos] min_pos parse result:

[20240712 11:22:06]:  -178000

[20240712 11:22:06]:  -130000

[20240712 11:22:06]:  -135000

[20240712 11:22:06]:  -178000

[20240712 11:22:06]:  -128000

[20240712 11:22:06]:  -360000

[20240712 11:22:06]: send is: {"command":"get_joint_max_pos"}



[20240712 11:22:06]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}

[20240712 11:22:06]: [rm_get_joint_max_pos] max_pos parse result:

[20240712 11:22:06]:  178000

[20240712 11:22:06]:  130000

[20240712 11:22:06]:  135000

[20240712 11:22:06]:  178000

[20240712 11:22:06]:  128000

[20240712 11:22:06]:  360000

[20240712 11:22:06]: send is: {"command":"get_joint_max_acc"}



[20240712 11:22:06]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}

[20240712 11:22:06]: [rm_get_joint_max_acc] joint_acc parse result:

[20240712 11:22:06]:  100000

[20240712 11:22:06]:  100000

[20240712 11:22:06]:  100000

[20240712 11:22:06]:  100000

[20240712 11:22:06]:  100000

[20240712 11:22:06]:  100000

[20240712 11:22:06]: send is: {"command":"get_joint_max_speed"}



[20240712 11:22:06]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}

[20240712 11:22:06]: [rm_get_joint_max_speed] joint_speed parse result:

[20240712 11:22:06]:  30000

[20240712 11:22:06]:  30000

[20240712 11:22:06]:  37500

[20240712 11:22:06]:  37500

[20240712 11:22:06]:  37500

[20240712 11:22:06]:  37500

[20240712 11:22:06]: send is: {"command":"set_change_work_frame","frame_name":"Base"}



[20240712 11:22:06]: thread_socket_receive len 62 robot_handle: 1 message:{"change_work_frame":true,"command":"set_change_work_frame"}

[20240712 11:22:06]: [rm_change_work_frame] change_work_frame: true

[20240712 11:22:06]: send is: {"command":"get_current_work_frame"}



[20240712 11:22:06]: thread_socket_receive len 76 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,1570,0],"state":"current_work_frame"}

[20240712 11:22:06]: [get_current_work_frame] Work frame Name: Base

[20240712 11:22:06]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240712 11:22:06]: send is: {"command":"set_lift_height","speed":20,"height":500}



[20240712 11:22:06]: send is: {"command":"movej_p","v":20,"pose":[100000,0,700000,0,0,3141],"trajectory_connect":0,"r":0}



[20240712 11:22:06]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}

[20240712 11:22:06]: [rm_movej_p] receive_state: true

[20240712 11:22:06]: send is: {"command":"get_arm_current_trajectory"}



[20240712 11:22:06]: thread_socket_receive len 89 robot_handle: 1 message:{"data":[0,-56969,90048,-2,-33067,-37],"state":"arm_current_trajectory","type":"movej"}

[20240712 11:22:06]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (0, -56969, 90048, -2, -33067, -37, 40)

[20240712 11:22:06]: [rm_get_arm_current_trajectory] Current trajectory is MoveJ!

[20240712 11:22:06]: [rm_get_arm_current_trajectory] Joint Angles: 0.000, -56.969, 90.048, -0.002, -33.067, -0.037

[20240712 11:22:06]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 11:22:06]: send is: {"command":"get_arm_current_trajectory"}



[20240712 11:22:06]: i is 0 command is current_trajectory_state

[20240712 11:22:06]: i is 0 command is current_trajectory_state

[20240712 11:22:07]: i is 0 command is current_trajectory_state

[20240712 11:22:07]: i is 0 command is current_trajectory_state

[20240712 11:22:07]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[0,-56972,90048,-2,-33081,-35],"state":"arm_current_trajectory","type":"none"}

[20240712 11:22:07]: i is 0 command is current_trajectory_state

[20240712 11:22:07]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (0, -56972, 90048, -2, -33081, -35, 40)

[20240712 11:22:07]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 11:22:07]: [rm_get_arm_current_trajectory] Joint Angles: 0.000, -56.972, 90.048, -0.002, -33.081, -0.035

[20240712 11:22:07]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 11:22:07]: send is: {"command":"movel","v":20,"pose":[100000,0,800000,0,0,3141],"trajectory_connect":0,"r":0}



[20240712 11:22:07]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}

[20240712 11:22:07]: [rm_movel] receive_state: true

[20240712 11:22:07]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 11:22:07]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 11:22:07]: send is: {"command":"set_gripper_pick_on","speed":500,"force":200,"block":true}



[20240712 11:22:07]: thread_socket_receive len 40 robot_handle: 1 message:{"command":"set_gripper","state":true}

[20240712 11:22:07]: [rm_set_gripper_pick_on] state: true

[20240712 11:22:08]: thread_socket_receive len 96 robot_handle: 1 message:{"device":1,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 11:22:08]: Move command result is: true, current Device: 1, trajectory_connect: 0

[20240712 11:22:10]: send is: {"command":"movel","v":20,"pose":[100000,0,700000,0,0,3141],"trajectory_connect":0,"r":0}



[20240712 11:22:10]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}

[20240712 11:22:10]: [rm_movel] receive_state: true

[20240712 11:22:11]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 11:22:11]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 11:22:11]: send is: {"command":"set_lift_height","speed":20,"height":200}



[20240712 11:22:12]: send is: {"command":"get_lift_state"}



[20240712 11:22:12]: thread_socket_receive len 99 robot_handle: 1 message:{"current":2599,"en_flag":1,"err_flag":0,"height":414,"joint_id":7,"mode":4,"state":"lift_state"}

[20240712 11:22:12]: [rm_get_lift_state] height parse result: 414

[20240712 11:22:12]: [rm_get_lift_state] current parse result: 2599

[20240712 11:22:12]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:22:12]: [rm_get_lift_state] mode parse result: 4

[20240712 11:22:13]: send is: {"command":"get_lift_state"}



[20240712 11:22:13]: thread_socket_receive len 99 robot_handle: 1 message:{"current":2527,"en_flag":1,"err_flag":0,"height":368,"joint_id":7,"mode":4,"state":"lift_state"}

[20240712 11:22:13]: [rm_get_lift_state] height parse result: 368

[20240712 11:22:13]: [rm_get_lift_state] current parse result: 2527

[20240712 11:22:13]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:22:13]: [rm_get_lift_state] mode parse result: 4

[20240712 11:22:14]: send is: {"command":"get_lift_state"}



[20240712 11:22:14]: thread_socket_receive len 99 robot_handle: 1 message:{"current":2432,"en_flag":1,"err_flag":0,"height":321,"joint_id":7,"mode":4,"state":"lift_state"}

[20240712 11:22:14]: [rm_get_lift_state] height parse result: 321

[20240712 11:22:14]: [rm_get_lift_state] current parse result: 2432

[20240712 11:22:14]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:22:14]: [rm_get_lift_state] mode parse result: 4

[20240712 11:22:15]: send is: {"command":"get_lift_state"}



[20240712 11:22:15]: thread_socket_receive len 99 robot_handle: 1 message:{"current":2260,"en_flag":1,"err_flag":0,"height":273,"joint_id":7,"mode":4,"state":"lift_state"}

[20240712 11:22:15]: [rm_get_lift_state] height parse result: 273

[20240712 11:22:15]: [rm_get_lift_state] current parse result: 2260

[20240712 11:22:15]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:22:15]: [rm_get_lift_state] mode parse result: 4

[20240712 11:22:16]: send is: {"command":"get_lift_state"}



[20240712 11:22:16]: thread_socket_receive len 99 robot_handle: 1 message:{"current":2599,"en_flag":1,"err_flag":0,"height":225,"joint_id":7,"mode":4,"state":"lift_state"}

[20240712 11:22:16]: [rm_get_lift_state] height parse result: 225

[20240712 11:22:16]: [rm_get_lift_state] current parse result: 2599

[20240712 11:22:16]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:22:16]: [rm_get_lift_state] mode parse result: 4

[20240712 11:22:16]: thread_socket_receive len 96 robot_handle: 1 message:{"device":3,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 11:22:16]: Move command result is: true, current Device: 3, trajectory_connect: 0

[20240712 11:22:16]: send is: {"command":"movel","v":20,"pose":[100000,0,800000,0,0,3141],"trajectory_connect":0,"r":0}



[20240712 11:22:16]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}

[20240712 11:22:16]: [rm_movel] receive_state: true

[20240712 11:22:17]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 11:22:17]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 11:22:17]: send is: {"command":"set_gripper_release","speed":500,"block":true}



[20240712 11:22:17]: thread_socket_receive len 40 robot_handle: 1 message:{"command":"set_gripper","state":true}

[20240712 11:22:17]: [rm_set_gripper_release] state: true

[20240712 11:22:18]: thread_socket_receive len 96 robot_handle: 1 message:{"device":1,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 11:22:18]: Move command result is: true, current Device: 1, trajectory_connect: 0

[20240712 11:22:20]: send is: {"command":"movel","v":20,"pose":[100000,0,700000,0,0,3141],"trajectory_connect":0,"r":0}



[20240712 11:22:20]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}

[20240712 11:22:20]: [rm_movel] receive_state: true

[20240712 11:22:20]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 11:22:20]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 11:30:14] Begin API Testing.
[20240712 11:30:14]: send is: {"command":"get_arm_software_info"}



[20240712 11:30:14]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.8"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/03 14:19:27","commit_id":"37ec433","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/07/03 14:19:41","commit_id":"768a6d4","version":"V1.5.6"}}

[20240712 11:30:14]: [rm_get_arm_software_info] Product version: RM65-BI

[20240712 11:30:14]: [rm_get_arm_software_info] Algorithm version: 1.3.8

[20240712 11:30:14]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240712 11:30:14]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/03 14:19:27

[20240712 11:30:14]: [rm_get_arm_software_info] Dynamic model version: 2

[20240712 11:30:14]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240712 11:30:14]: [rm_get_arm_software_info] Plan build Time: 2024/07/03 14:19:27

[20240712 11:30:14]: send is: {"command":"get_realtime_push"}



[20240712 11:30:14]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":10,"enable":true,"ip":"192.168.1.6","port":8089}

[20240712 11:30:14]: [rm_get_realtime_push] cycle parse result: 10

[20240712 11:30:14]: [rm_get_realtime_push] port parse result: 8089

[20240712 11:30:14]: [rm_get_realtime_push] ip parse result: 192.168.1.6

[20240712 11:30:14]: [rm_get_realtime_push] enable parse result: 1

[20240712 11:30:14]: send is: {"command":"get_current_work_frame"}



[20240712 11:30:14]: thread_socket_receive len 76 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,1570,0],"state":"current_work_frame"}

[20240712 11:30:14]: [get_current_work_frame] Work frame Name: Base

[20240712 11:30:14]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240712 11:30:14]: send is: {"command":"get_current_tool_frame"}



[20240712 11:30:14]: 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"}

[20240712 11:30:14]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240712 11:30:14]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240712 11:30:14]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240712 11:30:14]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240712 11:30:14]: send is: {"command":"get_install_pose"}



[20240712 11:30:14]: thread_socket_receive len 42 robot_handle: 1 message:{"pose":[0,90,0],"state":"install_pose"}

[20240712 11:30:14]: [rm_get_install_pose] pose parse result:

[20240712 11:30:14]:  0

[20240712 11:30:14]:  90

[20240712 11:30:14]:  0

[20240712 11:30:14]: send is: {"command":"get_joint_min_pos"}



[20240712 11:30:14]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}

[20240712 11:30:14]: [rm_get_joint_min_pos] min_pos parse result:

[20240712 11:30:14]:  -178000

[20240712 11:30:14]:  -130000

[20240712 11:30:14]:  -135000

[20240712 11:30:14]:  -178000

[20240712 11:30:14]:  -128000

[20240712 11:30:14]:  -360000

[20240712 11:30:14]: send is: {"command":"get_joint_max_pos"}



[20240712 11:30:14]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}

[20240712 11:30:14]: [rm_get_joint_max_pos] max_pos parse result:

[20240712 11:30:14]:  178000

[20240712 11:30:14]:  130000

[20240712 11:30:14]:  135000

[20240712 11:30:14]:  178000

[20240712 11:30:14]:  128000

[20240712 11:30:14]:  360000

[20240712 11:30:14]: send is: {"command":"get_joint_max_acc"}



[20240712 11:30:14]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}

[20240712 11:30:14]: [rm_get_joint_max_acc] joint_acc parse result:

[20240712 11:30:14]:  100000

[20240712 11:30:14]:  100000

[20240712 11:30:14]:  100000

[20240712 11:30:14]:  100000

[20240712 11:30:14]:  100000

[20240712 11:30:14]:  100000

[20240712 11:30:14]: send is: {"command":"get_joint_max_speed"}



[20240712 11:30:14]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}

[20240712 11:30:14]: [rm_get_joint_max_speed] joint_speed parse result:

[20240712 11:30:14]:  30000

[20240712 11:30:14]:  30000

[20240712 11:30:14]:  37500

[20240712 11:30:14]:  37500

[20240712 11:30:14]:  37500

[20240712 11:30:14]:  37500

[20240712 11:30:14]: send is: {"command":"set_change_work_frame","frame_name":"Base"}



[20240712 11:30:14]: thread_socket_receive len 62 robot_handle: 1 message:{"change_work_frame":true,"command":"set_change_work_frame"}

[20240712 11:30:14]: [rm_change_work_frame] change_work_frame: true

[20240712 11:30:14]: send is: {"command":"get_current_work_frame"}



[20240712 11:30:14]: thread_socket_receive len 76 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,1570,0],"state":"current_work_frame"}

[20240712 11:30:14]: [get_current_work_frame] Work frame Name: Base

[20240712 11:30:14]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240712 11:30:14]: send is: {"command":"set_lift_height","speed":20,"height":500}



[20240712 11:30:15]: send is: {"command":"movej_p","v":20,"pose":[100000,0,700000,0,0,3141],"trajectory_connect":0,"r":0}



[20240712 11:30:15]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}

[20240712 11:30:15]: [rm_movej_p] receive_state: true

[20240712 11:30:15]: send is: {"command":"get_arm_current_trajectory"}



[20240712 11:30:15]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[2,-56969,90052,-1,-33078,-45],"state":"arm_current_trajectory","type":"none"}

[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (2, -56969, 90052, -1, -33078, -45, 40)

[20240712 11:30:15]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 11:30:15]: [rm_get_arm_current_trajectory] Joint Angles: 0.002, -56.969, 90.052, -0.001, -33.078, -0.045

[20240712 11:30:15]: send is: {"command":"get_arm_current_trajectory"}



[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[2,-56969,90050,-2,-33078,-37],"state":"arm_current_trajectory","type":"none"}

[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (2, -56969, 90050, -2, -33078, -37, 40)

[20240712 11:30:15]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 11:30:15]: [rm_get_arm_current_trajectory] Joint Angles: 0.002, -56.969, 90.050, -0.002, -33.078, -0.037

[20240712 11:30:15]: send is: {"command":"get_arm_current_trajectory"}



[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[2,-56968,90050,-1,-33079,-37],"state":"arm_current_trajectory","type":"none"}

[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (2, -56968, 90050, -1, -33079, -37, 40)

[20240712 11:30:15]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 11:30:15]: [rm_get_arm_current_trajectory] Joint Angles: 0.002, -56.968, 90.050, -0.001, -33.079, -0.037

[20240712 11:30:15]: send is: {"command":"get_arm_current_trajectory"}



[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[1,-56968,90052,-1,-33079,-34],"state":"arm_current_trajectory","type":"none"}

[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (1, -56968, 90052, -1, -33079, -34, 40)

[20240712 11:30:15]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 11:30:15]: [rm_get_arm_current_trajectory] Joint Angles: 0.001, -56.968, 90.052, -0.001, -33.079, -0.034

[20240712 11:30:15]: send is: {"command":"get_arm_current_trajectory"}



[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[0,-56969,90050,-1,-33078,-34],"state":"arm_current_trajectory","type":"none"}

[20240712 11:30:15]: i is 0 command is current_trajectory_state

[20240712 11:30:15]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (0, -56969, 90050, -1, -33078, -34, 40)

[20240712 11:30:15]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 11:30:15]: [rm_get_arm_current_trajectory] Joint Angles: 0.000, -56.969, 90.050, -0.001, -33.078, -0.034

[20240712 11:30:16]: send is: {"command":"get_arm_current_trajectory"}



[20240712 11:30:16]: i is 0 command is current_trajectory_state

[20240712 11:30:16]: i is 0 command is current_trajectory_state

[20240712 11:30:16]: i is 0 command is current_trajectory_state

[20240712 11:30:16]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[1,-56971,90052,-1,-33078,-35],"state":"arm_current_trajectory","type":"none"}

[20240712 11:30:16]: i is 0 command is current_trajectory_state

[20240712 11:30:16]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (1, -56971, 90052, -1, -33078, -35, 40)

[20240712 11:30:16]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 11:30:16]: [rm_get_arm_current_trajectory] Joint Angles: 0.001, -56.971, 90.052, -0.001, -33.078, -0.035

[20240712 11:30:16]: send is: {"command":"get_arm_current_trajectory"}



[20240712 11:30:16]: i is 0 command is current_trajectory_state

[20240712 11:30:16]: i is 0 command is current_trajectory_state

[20240712 11:30:16]: i is 0 command is current_trajectory_state

[20240712 11:30:16]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[1,-56969,90049,-1,-33078,-37],"state":"arm_current_trajectory","type":"none"}

[20240712 11:30:16]: i is 0 command is current_trajectory_state

[20240712 11:30:16]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (1, -56969, 90049, -1, -33078, -37, 40)

[20240712 11:30:16]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 11:30:16]: [rm_get_arm_current_trajectory] Joint Angles: 0.001, -56.969, 90.049, -0.001, -33.078, -0.037

[20240712 11:30:16]: send is: {"command":"get_arm_current_trajectory"}



[20240712 11:30:16]: i is 0 command is current_trajectory_state

[20240712 11:30:16]: i is 0 command is current_trajectory_state

[20240712 11:30:16]: i is 0 command is current_trajectory_state

[20240712 11:30:16]: thread_socket_receive len 87 robot_handle: 1 message:{"data":[1,-56969,90049,0,-33078,-34],"state":"arm_current_trajectory","type":"none"}

[20240712 11:30:16]: i is 0 command is current_trajectory_state

[20240712 11:30:16]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (1, -56969, 90049, 0, -33078, -34, 40)

[20240712 11:30:16]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 11:30:16]: [rm_get_arm_current_trajectory] Joint Angles: 0.001, -56.969, 90.049, 0.000, -33.078, -0.034

[20240712 11:30:16]: send is: {"command":"get_arm_current_trajectory"}



[20240712 11:30:16]: i is 0 command is current_trajectory_state

[20240712 11:30:16]: i is 0 command is current_trajectory_state

[20240712 11:30:16]: i is 0 command is current_trajectory_state

[20240712 11:30:16]: i is 0 command is current_trajectory_state

[20240712 11:30:16]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[1,-56969,90050,-1,-33079,-32],"state":"arm_current_trajectory","type":"none"}

[20240712 11:30:16]: i is 0 command is current_trajectory_state

[20240712 11:30:16]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (1, -56969, 90050, -1, -33079, -32, 40)

[20240712 11:30:16]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 11:30:16]: [rm_get_arm_current_trajectory] Joint Angles: 0.001, -56.969, 90.050, -0.001, -33.079, -0.032

[20240712 11:30:16]: send is: {"command":"get_arm_current_trajectory"}



[20240712 11:30:16]: i is 0 command is current_trajectory_state

[20240712 11:30:16]: i is 0 command is current_trajectory_state

[20240712 11:30:16]: i is 0 command is current_trajectory_state

[20240712 11:30:16]: i is 0 command is current_trajectory_state

[20240712 11:30:16]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[1,-56969,90050,-1,-33079,-34],"state":"arm_current_trajectory","type":"none"}

[20240712 11:30:16]: i is 0 command is current_trajectory_state

[20240712 11:30:16]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (1, -56969, 90050, -1, -33079, -34, 40)

[20240712 11:30:16]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 11:30:16]: [rm_get_arm_current_trajectory] Joint Angles: 0.001, -56.969, 90.050, -0.001, -33.079, -0.034

[20240712 11:30:16]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 11:30:16]: send is: {"command":"movel","v":20,"pose":[100000,0,800000,0,0,3141],"trajectory_connect":0,"r":0}



[20240712 11:30:16]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}

[20240712 11:30:16]: [rm_movel] receive_state: true

[20240712 11:30:17]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 11:30:17]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 11:30:17]: send is: {"command":"set_gripper_pick_on","speed":500,"force":200,"block":true}



[20240712 11:30:17]: thread_socket_receive len 40 robot_handle: 1 message:{"command":"set_gripper","state":true}

[20240712 11:30:17]: [rm_set_gripper_pick_on] state: true

[20240712 11:30:18]: thread_socket_receive len 96 robot_handle: 1 message:{"device":1,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 11:30:18]: Move command result is: true, current Device: 1, trajectory_connect: 0

[20240712 11:30:20]: send is: {"command":"movel","v":20,"pose":[100000,0,700000,0,0,3141],"trajectory_connect":0,"r":0}



[20240712 11:30:20]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}

[20240712 11:30:20]: [rm_movel] receive_state: true

[20240712 11:30:20]: thread_socket_receive len 96 robot_handle: 1 message:{"device":3,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 11:30:20]: Move command result is: true, current Device: 3, trajectory_connect: 0

[20240712 11:30:21]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 11:30:21]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 11:30:21]: send is: {"command":"set_lift_height","speed":20,"height":200}



[20240712 11:30:22]: send is: {"command":"get_lift_state"}



[20240712 11:30:22]: thread_socket_receive len 99 robot_handle: 1 message:{"current":2683,"en_flag":1,"err_flag":0,"height":451,"joint_id":7,"mode":4,"state":"lift_state"}

[20240712 11:30:22]: [rm_get_lift_state] height parse result: 451

[20240712 11:30:22]: [rm_get_lift_state] current parse result: 2683

[20240712 11:30:22]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:30:22]: [rm_get_lift_state] mode parse result: 4

[20240712 11:30:23]: send is: {"command":"get_lift_state"}



[20240712 11:30:23]: thread_socket_receive len 99 robot_handle: 1 message:{"current":2360,"en_flag":1,"err_flag":0,"height":405,"joint_id":7,"mode":4,"state":"lift_state"}

[20240712 11:30:23]: [rm_get_lift_state] height parse result: 405

[20240712 11:30:23]: [rm_get_lift_state] current parse result: 2360

[20240712 11:30:23]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:30:23]: [rm_get_lift_state] mode parse result: 4

[20240712 11:30:23]: send is: {"command":"get_lift_state"}



[20240712 11:30:23]: thread_socket_receive len 99 robot_handle: 1 message:{"current":2388,"en_flag":1,"err_flag":0,"height":358,"joint_id":7,"mode":4,"state":"lift_state"}

[20240712 11:30:23]: [rm_get_lift_state] height parse result: 358

[20240712 11:30:23]: [rm_get_lift_state] current parse result: 2388

[20240712 11:30:23]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:30:23]: [rm_get_lift_state] mode parse result: 4

[20240712 11:30:24]: send is: {"command":"get_lift_state"}



[20240712 11:30:24]: thread_socket_receive len 99 robot_handle: 1 message:{"current":2281,"en_flag":1,"err_flag":0,"height":312,"joint_id":7,"mode":4,"state":"lift_state"}

[20240712 11:30:24]: [rm_get_lift_state] height parse result: 312

[20240712 11:30:24]: [rm_get_lift_state] current parse result: 2281

[20240712 11:30:24]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:30:24]: [rm_get_lift_state] mode parse result: 4

[20240712 11:30:25]: send is: {"command":"get_lift_state"}



[20240712 11:30:25]: thread_socket_receive len 99 robot_handle: 1 message:{"current":2627,"en_flag":1,"err_flag":0,"height":266,"joint_id":7,"mode":4,"state":"lift_state"}

[20240712 11:30:25]: [rm_get_lift_state] height parse result: 266

[20240712 11:30:25]: [rm_get_lift_state] current parse result: 2627

[20240712 11:30:25]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:30:25]: [rm_get_lift_state] mode parse result: 4

[20240712 11:30:26]: send is: {"command":"get_lift_state"}



[20240712 11:30:26]: thread_socket_receive len 99 robot_handle: 1 message:{"current":2555,"en_flag":1,"err_flag":0,"height":222,"joint_id":7,"mode":4,"state":"lift_state"}

[20240712 11:30:26]: [rm_get_lift_state] height parse result: 222

[20240712 11:30:26]: [rm_get_lift_state] current parse result: 2555

[20240712 11:30:26]: [rm_get_lift_state] err_flag parse result: 0

[20240712 11:30:26]: [rm_get_lift_state] mode parse result: 4

[20240712 11:30:26]: thread_socket_receive len 96 robot_handle: 1 message:{"device":3,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 11:30:26]: Move command result is: true, current Device: 3, trajectory_connect: 0

[20240712 11:30:26]: send is: {"command":"movel","v":20,"pose":[100000,0,800000,0,0,3141],"trajectory_connect":0,"r":0}



[20240712 11:30:26]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}

[20240712 11:30:26]: [rm_movel] receive_state: true

[20240712 11:30:27]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 11:30:27]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 11:30:27]: send is: {"command":"set_gripper_release","speed":500,"block":true}



[20240712 11:30:27]: thread_socket_receive len 40 robot_handle: 1 message:{"command":"set_gripper","state":true}

[20240712 11:30:27]: [rm_set_gripper_release] state: true

[20240712 11:30:28]: thread_socket_receive len 96 robot_handle: 1 message:{"device":1,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 11:30:28]: Move command result is: true, current Device: 1, trajectory_connect: 0

[20240712 11:30:30]: send is: {"command":"movel","v":20,"pose":[100000,0,700000,0,0,3141],"trajectory_connect":0,"r":0}



[20240712 11:30:30]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}

[20240712 11:30:30]: [rm_movel] receive_state: true

[20240712 11:30:30]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 11:30:30]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 13:05:11] Begin API Testing.
[20240712 13:05:11]: send is: {"command":"get_arm_software_info"}



[20240712 13:05:11]: thread_socket_receive len 315 robot_handle: 1 message:{"Product_version":"RM65-BI","algorithm_info":{"version":"1.3.8"},"command":"arm_software_info","ctrl_info":{"build_time":"2024/07/03 14:19:27","commit_id":"37ec433","version":"V1.5.6"},"dynamic_info":{"model_version":"2"},"plan_info":{"build_time":"2024/07/03 14:19:41","commit_id":"768a6d4","version":"V1.5.6"}}

[20240712 13:05:11]: [rm_get_arm_software_info] Product version: RM65-BI

[20240712 13:05:11]: [rm_get_arm_software_info] Algorithm version: 1.3.8

[20240712 13:05:11]: [rm_get_arm_software_info] Ctrl version: V1.5.6

[20240712 13:05:11]: [rm_get_arm_software_info] Ctrl build Time: 2024/07/03 14:19:27

[20240712 13:05:11]: [rm_get_arm_software_info] Dynamic model version: 2

[20240712 13:05:11]: [rm_get_arm_software_info] Plan version: V1.5.6

[20240712 13:05:11]: [rm_get_arm_software_info] Plan build Time: 2024/07/03 14:19:27

[20240712 13:05:11]: send is: {"command":"get_realtime_push"}



[20240712 13:05:11]: thread_socket_receive len 89 robot_handle: 1 message:{"command":"get_realtime_push","cycle":10,"enable":true,"ip":"192.168.1.6","port":8089}

[20240712 13:05:11]: [rm_get_realtime_push] cycle parse result: 10

[20240712 13:05:11]: [rm_get_realtime_push] port parse result: 8089

[20240712 13:05:11]: [rm_get_realtime_push] ip parse result: 192.168.1.6

[20240712 13:05:11]: [rm_get_realtime_push] enable parse result: 1

[20240712 13:05:11]: send is: {"command":"get_current_work_frame"}



[20240712 13:05:11]: thread_socket_receive len 76 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,1570,0],"state":"current_work_frame"}

[20240712 13:05:11]: [get_current_work_frame] Work frame Name: Base

[20240712 13:05:11]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240712 13:05:11]: send is: {"command":"get_current_tool_frame"}



[20240712 13:05:11]: 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"}

[20240712 13:05:11]: [get_current_tool_frame] Tool frame Name: Arm_Tip

[20240712 13:05:11]: [get_current_tool_frame] Tool frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240712 13:05:11]: [get_current_tool_frame] Tool frame payloda: 0.000

[20240712 13:05:11]: [get_current_tool_frame] Tool frame position: (0.000, 0.000, 0.000)

[20240712 13:05:11]: send is: {"command":"get_install_pose"}



[20240712 13:05:11]: thread_socket_receive len 42 robot_handle: 1 message:{"pose":[0,90,0],"state":"install_pose"}

[20240712 13:05:11]: [rm_get_install_pose] pose parse result:

[20240712 13:05:11]:  0

[20240712 13:05:11]:  90

[20240712 13:05:11]:  0

[20240712 13:05:11]: send is: {"command":"get_joint_min_pos"}



[20240712 13:05:11]: thread_socket_receive len 87 robot_handle: 1 message:{"min_pos":[-178000,-130000,-135000,-178000,-128000,-360000],"state":"joint_min_pos"}

[20240712 13:05:11]: [rm_get_joint_min_pos] min_pos parse result:

[20240712 13:05:11]:  -178000

[20240712 13:05:11]:  -130000

[20240712 13:05:11]:  -135000

[20240712 13:05:11]:  -178000

[20240712 13:05:11]:  -128000

[20240712 13:05:11]:  -360000

[20240712 13:05:11]: send is: {"command":"get_joint_max_pos"}



[20240712 13:05:11]: thread_socket_receive len 81 robot_handle: 1 message:{"max_pos":[178000,130000,135000,178000,128000,360000],"state":"joint_max_pos"}

[20240712 13:05:11]: [rm_get_joint_max_pos] max_pos parse result:

[20240712 13:05:11]:  178000

[20240712 13:05:11]:  130000

[20240712 13:05:11]:  135000

[20240712 13:05:11]:  178000

[20240712 13:05:11]:  128000

[20240712 13:05:11]:  360000

[20240712 13:05:11]: send is: {"command":"get_joint_max_acc"}



[20240712 13:05:11]: thread_socket_receive len 83 robot_handle: 1 message:{"joint_acc":[100000,100000,100000,100000,100000,100000],"state":"joint_max_acc"}

[20240712 13:05:11]: [rm_get_joint_max_acc] joint_acc parse result:

[20240712 13:05:11]:  100000

[20240712 13:05:11]:  100000

[20240712 13:05:11]:  100000

[20240712 13:05:11]:  100000

[20240712 13:05:11]:  100000

[20240712 13:05:11]:  100000

[20240712 13:05:11]: send is: {"command":"get_joint_max_speed"}



[20240712 13:05:11]: thread_socket_receive len 81 robot_handle: 1 message:{"joint_speed":[30000,30000,37500,37500,37500,37500],"state":"joint_max_speed"}

[20240712 13:05:11]: [rm_get_joint_max_speed] joint_speed parse result:

[20240712 13:05:11]:  30000

[20240712 13:05:11]:  30000

[20240712 13:05:11]:  37500

[20240712 13:05:11]:  37500

[20240712 13:05:11]:  37500

[20240712 13:05:11]:  37500

[20240712 13:05:11]: send is: {"command":"set_change_work_frame","frame_name":"Base"}



[20240712 13:05:11]: thread_socket_receive len 62 robot_handle: 1 message:{"change_work_frame":true,"command":"set_change_work_frame"}

[20240712 13:05:11]: [rm_change_work_frame] change_work_frame: true

[20240712 13:05:11]: send is: {"command":"get_current_work_frame"}



[20240712 13:05:11]: thread_socket_receive len 76 robot_handle: 1 message:{"frame_name":"Base","pose":[0,0,0,0,1570,0],"state":"current_work_frame"}

[20240712 13:05:11]: [get_current_work_frame] Work frame Name: Base

[20240712 13:05:11]: [get_current_work_frame] Work frame pose: (0.000, 0.000, 0.000, 0.000, 0.000, 0.000)

[20240712 13:05:11]: send is: {"command":"set_lift_height","speed":20,"height":500}



[20240712 13:05:12]: send is: {"command":"movej_p","v":20,"pose":[100000,0,700000,0,0,3141],"trajectory_connect":0,"r":0}



[20240712 13:05:12]: thread_socket_receive len 44 robot_handle: 1 message:{"command":"movej_p","receive_state":true}

[20240712 13:05:12]: [rm_movej_p] receive_state: true

[20240712 13:05:12]: send is: {"command":"get_arm_current_trajectory"}



[20240712 13:05:12]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 13:05:12]: i is 0 command is current_trajectory_state

[20240712 13:05:12]: i is 0 command is current_trajectory_state

[20240712 13:05:12]: i is 0 command is current_trajectory_state

[20240712 13:05:12]: i is 0 command is current_trajectory_state

[20240712 13:05:12]: i is 0 command is current_trajectory_state

[20240712 13:05:12]: i is 0 command is current_trajectory_state

[20240712 13:05:12]: i is 0 command is current_trajectory_state

[20240712 13:05:12]: i is 0 command is current_trajectory_state

[20240712 13:05:12]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[1,-56966,90052,-2,-33088,-41],"state":"arm_current_trajectory","type":"none"}

[20240712 13:05:12]: i is 0 command is current_trajectory_state

[20240712 13:05:12]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (1, -56966, 90052, -2, -33088, -41, 40)

[20240712 13:05:12]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 13:05:12]: [rm_get_arm_current_trajectory] Joint Angles: 0.001, -56.966, 90.052, -0.002, -33.088, -0.041

[20240712 13:05:12]: send is: {"command":"get_arm_current_trajectory"}



[20240712 13:05:12]: i is 0 command is current_trajectory_state

[20240712 13:05:12]: i is 0 command is current_trajectory_state

[20240712 13:05:12]: i is 0 command is current_trajectory_state

[20240712 13:05:12]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[1,-56968,90052,-4,-33082,-37],"state":"arm_current_trajectory","type":"none"}

[20240712 13:05:12]: i is 0 command is current_trajectory_state

[20240712 13:05:12]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (1, -56968, 90052, -4, -33082, -37, 40)

[20240712 13:05:12]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 13:05:12]: [rm_get_arm_current_trajectory] Joint Angles: 0.001, -56.968, 90.052, -0.004, -33.082, -0.037

[20240712 13:05:12]: send is: {"command":"get_arm_current_trajectory"}



[20240712 13:05:12]: i is 0 command is current_trajectory_state

[20240712 13:05:12]: i is 0 command is current_trajectory_state

[20240712 13:05:12]: i is 0 command is current_trajectory_state

[20240712 13:05:12]: i is 0 command is current_trajectory_state

[20240712 13:05:12]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[1,-56969,90052,-2,-33079,-37],"state":"arm_current_trajectory","type":"none"}

[20240712 13:05:12]: i is 0 command is current_trajectory_state

[20240712 13:05:12]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (1, -56969, 90052, -2, -33079, -37, 40)

[20240712 13:05:12]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 13:05:12]: [rm_get_arm_current_trajectory] Joint Angles: 0.001, -56.969, 90.052, -0.002, -33.079, -0.037

[20240712 13:05:12]: send is: {"command":"get_arm_current_trajectory"}



[20240712 13:05:12]: i is 0 command is current_trajectory_state

[20240712 13:05:12]: i is 0 command is current_trajectory_state

[20240712 13:05:12]: i is 0 command is current_trajectory_state

[20240712 13:05:12]: thread_socket_receive len 87 robot_handle: 1 message:{"data":[0,-56966,90053,0,-33077,-35],"state":"arm_current_trajectory","type":"none"}

[20240712 13:05:12]: i is 0 command is current_trajectory_state

[20240712 13:05:12]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (0, -56966, 90053, 0, -33077, -35, 40)

[20240712 13:05:12]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 13:05:12]: [rm_get_arm_current_trajectory] Joint Angles: 0.000, -56.966, 90.053, 0.000, -33.077, -0.035

[20240712 13:05:12]: send is: {"command":"get_arm_current_trajectory"}



[20240712 13:05:12]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[0,-56969,90052,-1,-33075,-35],"state":"arm_current_trajectory","type":"none"}

[20240712 13:05:13]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (0, -56969, 90052, -1, -33075, -35, 40)

[20240712 13:05:13]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 13:05:13]: [rm_get_arm_current_trajectory] Joint Angles: 0.000, -56.969, 90.052, -0.001, -33.075, -0.035

[20240712 13:05:13]: send is: {"command":"get_arm_current_trajectory"}



[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: thread_socket_receive len 88 robot_handle: 1 message:{"data":[0,-56968,90053,-1,-33078,-34],"state":"arm_current_trajectory","type":"none"}

[20240712 13:05:13]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (0, -56968, 90053, -1, -33078, -34, 40)

[20240712 13:05:13]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 13:05:13]: [rm_get_arm_current_trajectory] Joint Angles: 0.000, -56.968, 90.053, -0.001, -33.078, -0.034

[20240712 13:05:13]: send is: {"command":"get_arm_current_trajectory"}



[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: thread_socket_receive len 87 robot_handle: 1 message:{"data":[1,-56969,90050,0,-33078,-32],"state":"arm_current_trajectory","type":"none"}

[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (1, -56969, 90050, 0, -33078, -32, 40)

[20240712 13:05:13]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 13:05:13]: [rm_get_arm_current_trajectory] Joint Angles: 0.001, -56.969, 90.050, 0.000, -33.078, -0.032

[20240712 13:05:13]: send is: {"command":"get_arm_current_trajectory"}



[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: thread_socket_receive len 87 robot_handle: 1 message:{"data":[1,-56969,90052,0,-33078,-34],"state":"arm_current_trajectory","type":"none"}

[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (1, -56969, 90052, 0, -33078, -34, 40)

[20240712 13:05:13]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 13:05:13]: [rm_get_arm_current_trajectory] Joint Angles: 0.001, -56.969, 90.052, 0.000, -33.078, -0.034

[20240712 13:05:13]: send is: {"command":"get_arm_current_trajectory"}



[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: thread_socket_receive len 87 robot_handle: 1 message:{"data":[1,-56969,90052,0,-33081,-35],"state":"arm_current_trajectory","type":"none"}

[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (1, -56969, 90052, 0, -33081, -35, 40)

[20240712 13:05:13]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 13:05:13]: [rm_get_arm_current_trajectory] Joint Angles: 0.001, -56.969, 90.052, 0.000, -33.081, -0.035

[20240712 13:05:13]: send is: {"command":"get_arm_current_trajectory"}



[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: thread_socket_receive len 87 robot_handle: 1 message:{"data":[1,-56968,90050,0,-33079,-34],"state":"arm_current_trajectory","type":"none"}

[20240712 13:05:13]: i is 0 command is current_trajectory_state

[20240712 13:05:13]: [rm_get_arm_current_trajectory] Current trajectory data size: 6, data : (1, -56968, 90050, 0, -33079, -34, 40)

[20240712 13:05:13]: [rm_get_arm_current_trajectory] Current trajectory is None!

[20240712 13:05:13]: [rm_get_arm_current_trajectory] Joint Angles: 0.001, -56.968, 90.050, 0.000, -33.079, -0.034

[20240712 13:05:13]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 13:05:13]: send is: {"command":"movel","v":20,"pose":[100000,0,800000,0,0,3141],"trajectory_connect":0,"r":0}



[20240712 13:05:13]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}

[20240712 13:05:13]: [rm_movel] receive_state: true

[20240712 13:05:14]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 13:05:14]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 13:05:14]: send is: {"command":"set_gripper_pick_on","speed":500,"force":200,"block":true}



[20240712 13:05:14]: thread_socket_receive len 40 robot_handle: 1 message:{"command":"set_gripper","state":true}

[20240712 13:05:14]: [rm_set_gripper_pick_on] state: true

[20240712 13:05:15]: thread_socket_receive len 96 robot_handle: 1 message:{"device":1,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 13:05:15]: Move command result is: true, current Device: 1, trajectory_connect: 0

[20240712 13:05:17]: send is: {"command":"movel","v":20,"pose":[100000,0,700000,0,0,3141],"trajectory_connect":0,"r":0}



[20240712 13:05:17]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}

[20240712 13:05:17]: [rm_movel] receive_state: true

[20240712 13:05:17]: thread_socket_receive len 96 robot_handle: 1 message:{"device":3,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 13:05:17]: Move command result is: true, current Device: 3, trajectory_connect: 0

[20240712 13:05:18]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 13:05:18]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 13:05:18]: send is: {"command":"set_lift_height","speed":20,"height":200}



[20240712 13:05:19]: send is: {"command":"get_lift_state"}



[20240712 13:05:19]: thread_socket_receive len 99 robot_handle: 1 message:{"current":2679,"en_flag":1,"err_flag":0,"height":450,"joint_id":7,"mode":4,"state":"lift_state"}

[20240712 13:05:19]: [rm_get_lift_state] height parse result: 450

[20240712 13:05:19]: [rm_get_lift_state] current parse result: 2679

[20240712 13:05:19]: [rm_get_lift_state] err_flag parse result: 0

[20240712 13:05:19]: [rm_get_lift_state] mode parse result: 4

[20240712 13:05:20]: send is: {"command":"get_lift_state"}



[20240712 13:05:20]: thread_socket_receive len 99 robot_handle: 1 message:{"current":2239,"en_flag":1,"err_flag":0,"height":404,"joint_id":7,"mode":4,"state":"lift_state"}

[20240712 13:05:20]: [rm_get_lift_state] height parse result: 404

[20240712 13:05:20]: [rm_get_lift_state] current parse result: 2239

[20240712 13:05:20]: [rm_get_lift_state] err_flag parse result: 0

[20240712 13:05:20]: [rm_get_lift_state] mode parse result: 4

[20240712 13:05:21]: send is: {"command":"get_lift_state"}



[20240712 13:05:21]: thread_socket_receive len 99 robot_handle: 1 message:{"current":2410,"en_flag":1,"err_flag":0,"height":356,"joint_id":7,"mode":4,"state":"lift_state"}

[20240712 13:05:21]: [rm_get_lift_state] height parse result: 356

[20240712 13:05:21]: [rm_get_lift_state] current parse result: 2410

[20240712 13:05:21]: [rm_get_lift_state] err_flag parse result: 0

[20240712 13:05:21]: [rm_get_lift_state] mode parse result: 4

[20240712 13:05:21]: send is: {"command":"get_lift_state"}



[20240712 13:05:21]: thread_socket_receive len 99 robot_handle: 1 message:{"current":2656,"en_flag":1,"err_flag":0,"height":309,"joint_id":7,"mode":4,"state":"lift_state"}

[20240712 13:05:21]: [rm_get_lift_state] height parse result: 309

[20240712 13:05:21]: [rm_get_lift_state] current parse result: 2656

[20240712 13:05:21]: [rm_get_lift_state] err_flag parse result: 0

[20240712 13:05:21]: [rm_get_lift_state] mode parse result: 4

[20240712 13:05:22]: send is: {"command":"get_lift_state"}



[20240712 13:05:22]: thread_socket_receive len 99 robot_handle: 1 message:{"current":2389,"en_flag":1,"err_flag":0,"height":261,"joint_id":7,"mode":4,"state":"lift_state"}

[20240712 13:05:22]: [rm_get_lift_state] height parse result: 261

[20240712 13:05:22]: [rm_get_lift_state] current parse result: 2389

[20240712 13:05:22]: [rm_get_lift_state] err_flag parse result: 0

[20240712 13:05:22]: [rm_get_lift_state] mode parse result: 4

[20240712 13:05:23]: send is: {"command":"get_lift_state"}



[20240712 13:05:23]: thread_socket_receive len 99 robot_handle: 1 message:{"current":2635,"en_flag":1,"err_flag":0,"height":214,"joint_id":7,"mode":4,"state":"lift_state"}

[20240712 13:05:23]: [rm_get_lift_state] height parse result: 214

[20240712 13:05:23]: [rm_get_lift_state] current parse result: 2635

[20240712 13:05:23]: [rm_get_lift_state] err_flag parse result: 0

[20240712 13:05:23]: [rm_get_lift_state] mode parse result: 4

[20240712 13:05:23]: thread_socket_receive len 96 robot_handle: 1 message:{"device":3,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 13:05:23]: Move command result is: true, current Device: 3, trajectory_connect: 0

[20240712 13:05:23]: send is: {"command":"movel","v":20,"pose":[100000,0,800000,0,0,3141],"trajectory_connect":0,"r":0}



[20240712 13:05:23]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}

[20240712 13:05:23]: [rm_movel] receive_state: true

[20240712 13:05:24]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 13:05:24]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 13:05:24]: send is: {"command":"set_gripper_release","speed":500,"block":true}



[20240712 13:05:24]: thread_socket_receive len 40 robot_handle: 1 message:{"command":"set_gripper","state":true}

[20240712 13:05:24]: [rm_set_gripper_release] state: true

[20240712 13:05:25]: thread_socket_receive len 96 robot_handle: 1 message:{"device":1,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 13:05:25]: Move command result is: true, current Device: 1, trajectory_connect: 0

[20240712 13:05:27]: send is: {"command":"movel","v":20,"pose":[100000,0,700000,0,0,3141],"trajectory_connect":0,"r":0}



[20240712 13:05:27]: thread_socket_receive len 42 robot_handle: 1 message:{"command":"movel","receive_state":true}

[20240712 13:05:27]: [rm_movel] receive_state: true

[20240712 13:05:28]: thread_socket_receive len 96 robot_handle: 1 message:{"device":0,"state":"current_trajectory_state","trajectory_connect":0,"trajectory_state":true}

[20240712 13:05:28]: Move command result is: true, current Device: 0, trajectory_connect: 0

[20240712 16:22:52] Begin API Testing.
[20240712 16:24:16] Begin API Testing.
[20240713 09:30:58] Begin API Testing.
[20240713 09:31:37] Begin API Testing.
[20240713 09:33:06] Begin API Testing.
[20240713 09:33:26] Begin API Testing.
[20240713 09:33:49] Begin API Testing.
[20240713 09:34:31] Begin API Testing.
[20240713 09:35:45] Begin API Testing.
[20240713 09:36:02] Begin API Testing.
[20240713 09:36:22] Begin API Testing.
[20240713 15:18:09] Begin API Testing.
[20240713 15:22:11] Begin API Testing.
[20240713 15:22:32]: [rm_create_robot_arm] socket connect err!

[20240713 15:22:32]: [rm_change_work_frame] set_change_work_frame send error

[20240713 15:22:32]: [rm_set_lift_height] set_lift_height send error

[20240713 15:22:32]: [rm_movej_p] movej_p send error

[20240713 15:22:32]: [rm_movel] movel send error

[20240713 15:22:32]: [rm_set_gripper_pick_on] set_gripper_pick_on send error

[20240713 15:22:34]: [rm_movel] movel send error

[20240713 15:22:34]: [rm_set_lift_height] set_lift_height send error

[20240713 15:22:34]: [rm_movel] movel send error

[20240713 15:22:34]: [rm_set_gripper_release] set_gripper_release send error

[20240713 15:22:36]: [rm_movel] movel send error

[20240715 08:51:17] Begin API Testing.
[20240715 08:59:07] Begin API Testing.
[20240715 08:59:56] Begin API Testing.
[20240715 09:32:10] Begin API Testing.
